Title :
Adaptive learning control for robot manipulators
Author :
Del Vecchio, Domitilla ; Marino, R. ; Tomei, P.
Author_Institution :
Dipt. di Ingegneria Elettronica, Rome Univ., Italy
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;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945619
