Application of a general learning algorithm to the control of robotic manipulators
International Journal of Robotics Research
An iterative learning control theory for a class of nonlinear dynamic systems
Automatica (Journal of IFAC)
Iterative learning control in feedback systems
Automatica (Journal of IFAC)
Technical communique: Further results on adaptive iterative learning control of robot manipulators
Automatica (Journal of IFAC)
Brief paper: A global adaptive learning control for robotic manipulators
Automatica (Journal of IFAC)
Enhanced fuzzy sliding mode controller for robotic manipulators
International Journal of Robotics and Automation
Observer-based adaptive iterative learning control for nonlinear systems with time-varying delays
International Journal of Automation and Computing
Hi-index | 22.15 |
An adaptive PID learning controller which consists of an adaptive PID feedback control scheme and a feedforward input learning scheme is proposed for learning of periodic robot motion. In the learning controller, the adaptive PID feedback controller takes part in stabilizing the transient response of robot dynamics while the feedforward learning controller plays a role in computing the desired actuator torques for feedforward nonlinear dynamics compensation in steady state. It is shown that all the error signals in the learning control system are bounded and the robot motion trajectory converges to the desired one asymptotically. In addition, the proposed adaptive PID learning controller is compared with the fixed PID learning controller in terms of the stability condition of PID gain bound, the performance of tracking, and the convergence rate of learning system.