Linear Learning Control Of Robot Motion

    Authors

    Z. H. Qu; J. Dorsey; D. M. Dawson;R. W. Johnson

    Comments

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    Abbreviated Journal Title

    J. Robot. Syst.

    Keywords

    Robotics

    Abstract

    For the trajectory following problem of a robot manipulator, a new linear learning control law, consisting of the conventional proportional-integral-differential (PID) control law, with respect to position tracking error, and an iterative learning term is provided. The learning part is a linear feedback control of position, velocity, and acceleration errors (PDD2). It has been shown that, under the proposed learning control, the position, velocity, and acceleration tracking errors are asymptotically stable in the presence of highly nonlinear dynamics. The proposed control is robust in the sense that exact knowledge about nonlinear dynamics is not required except for the bounding functions on their magnitudes. Further, neither is linear approximation of nonlinear dynamics nor repeatability of robot motion required.

    Journal Title

    Journal of Robotic Systems

    Volume

    10

    Issue/Number

    1

    Publication Date

    1-1-1993

    Document Type

    Article

    Language

    English

    First Page

    123

    Last Page

    140

    WOS Identifier

    WOS:A1993KG50700006

    ISSN

    0741-2223

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