Adaptive learning tracking control of robotic manipulators with uncertainties-自适应学习跟踪控制机器人操纵器的不确定性.pdfVIP

J Control Theory Appl 2010 8 (2) 160–165 DOI 10.1007/s11768-010-0010-2 Adaptive learning tracking control of robotic manipulators with uncertainties Rui YAN, Keng Peng TEE, Haizhou LI (Institute for Infocomm Research, 1 Fusionopolis Way, #21-01 Connexis, Singapore 138632) Abstract: An adaptive learning tracking control scheme is developed for robotic manipulators by a synthesis of adaptive control and learning control approaches. The proposed controller possesses both adaptive and learning properties and thereby is able to handle robotic systems with both time-varying periodic uncertainties and time invariant parame- ters. Theoretical proofs are established to show that proposed controllers ensure asymptotical tracking performance. The effectiveness of the proposed approaches is validated through extensive numerical simulation results. Keywords: Adaptive control; Learning control; Robotic dynamic systems; Uncertainties 1 Introduction The classical adaptive updating law and the periodic learn- Robotic manipulators are required to perform various ing law are used jointly for robotic systems with both time- tasks, and hence the robotic system has many uncertain- varying and time invariant parameters. Generally speaking, ties, such as external disturbances, parameter uncertainty the classical adaptive updating law does not work for time and sensor errors. It has been shown in [1] and [2] that the varying parameters. The periodic