Frequency domain synthesis of trajectory learning controllers for robot manipulators
- 1 July 1992
- journal article
- research article
- Published by Wiley in Journal of Robotic Systems
- Vol. 9 (5) , 663-680
- https://doi.org/10.1002/rob.4620090506
Abstract
Trajectory learning control is a method for generating near to optimal feedforward control for systems that are controlled along a reference trajectory in repeated cycles. Iterative refinements of a stored feedforward control sequence corresponding to one cycle of the control trajectory is computed based upon the recorded trajectory error from the previous cycle. Several learning operators have been proposed in earlier work, and convergence proofs are developed for certain classes of systems, but no satisfactory method for design and analysis of learning operators under the presence of uncertainties in the system model have been presented. This article presents frequency domain methods for analyzing the convergence properties and performance of the learning controller when the amplitude and phase of the system transfer function is assumed to be within specified windows. Experimental results with an industrial robot manipulator confirm the theoretical results.Keywords
This publication has 16 references indexed in Scilit:
- Nonuniformly Partitioned Piecewise Linear Representation of Continuous Learned MappingsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Some experimental results on model-based control schemesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Impact of control system design on a flexible manufacturing system for colliery archesIEE Proceedings D Control Theory and Applications, 1990
- Higher-order iterative learning control algorithmIEE Proceedings D Control Theory and Applications, 1989
- On the iterative learning control theory for robotic manipulatorsIEEE Journal on Robotics and Automation, 1988
- Realization of robot motion based on a learning methodIEEE Transactions on Systems, Man, and Cybernetics, 1988
- Learning control for a class of nonlinear systemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1987
- On the robustness of the computed torque technique in manipulator controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Learning control theory for dynamical systemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1985
- Bettering operation of Robots by learningJournal of Robotic Systems, 1984