DocumentCode
3413000
Title
Adaptive learning control for robot manipulators
Author
Del Vecchio, Domitilla ; Marino, R. ; Tomei, P.
Author_Institution
Dipt. di Ingegneria Elettronica, Rome Univ., Italy
Volume
1
fYear
2001
fDate
2001
Firstpage
641
Abstract
We propose an adaptive learning control for a robot manipulator which guarantees the tracking of a periodic reference signal in joint coordinates with an arbitrary precision. The control algorithm is not model based and it does not require acceleration measurements or persistently exciting reference signals: it adaptively reconstructs any Fourier series approximation of the periodic reference input at each joint from any initial condition in a compact set with guaranteed transient performance
Keywords
Fourier series; adaptive control; approximation theory; learning systems; manipulators; tracking; Fourier series approximation; adaptive learning control; adaptive reconstruction; guaranteed transient performance; joint coordinates; periodic reference input; periodic reference signal tracking; robot manipulators; Adaptive control; Algorithm design and analysis; Fourier series; Linear feedback control systems; Manipulators; Programmable control; Robot control; Robot kinematics; Three-term control; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2001. Proceedings of the 2001
Conference_Location
Arlington, VA
ISSN
0743-1619
Print_ISBN
0-7803-6495-3
Type
conf
DOI
10.1109/ACC.2001.945619
Filename
945619
Link To Document