Experimental Results on Iterative Control of Robot Manipulator by 2D Model-Following Servo Approach

Iterative control systems can be viewed as 2D (2 dimensional) systems because that systems have two kinds of dynamics. This study uses 2D model-following servo control theory to design an iterative controller such that a two link robot manipulator tracks trajectory which changes for each repetition. It is supposed that one of the two variables is unbounded and the other one is bounded because there is no boundary condition for the iterative index, while the iterated passes are always bounded in finite time intervals. Experimental results are shown.