|
| << vorige | volgende >> |
Tijdschrift beschrijving
Alle jaargangen van het bijbehorende tijdschrift
Alle afleveringen van het bijbehorende jaargang
Alle artikelen van de bijbehorende aflevering
Details van artikel 15 van 16 gevonden artikelen
| Titel: |
Robust learning control for robotic manipulators with an extension to a class of non-linear systems |
| Auteur: |
Xu, Jian-Xin Viswanathan, Badrinath Qu, Zhihua |
| Verschenen in: |
International journal of control |
| Paginering: | Jaargang 73 (2000) nr. 10 pagina's 858-870 |
| Jaar: |
2000-07-10 |
| Inhoud: |
A robust learning control (RLC) scheme is developed for robotic manipulators by a synthesis of learning control and robust control methods. The non-linear learning control strategy is applied directly to the structured system uncertainties that can be separated and expressed as products of unknown but repeatable (over iterations) state-independent time functions and known state-dependent functions. The non-linear uncertain terms in robotic dynamics such as centrifugal, Coriolis and gravitational forces belong to this category. For unstructured uncertainties which may have non-repeatable factors but are limited by a set of known bounding functions as the only a priori knowledge, e.g the frictions of a robotic manipulator, robust control strategies such as variable structure control strategy can be applied to ensure global asymptotic stability. By virtue of the learning and robust properties, the new control system can easily fulfil control objectives that are difficult for either learning control or variable structure control alone to achieve satisfactorily. The proposed RLC scheme is further shown to be applicable to certain classes of non-linear uncertain systems which include robotic dynamics as asubset. Various important properties concerning learning control, such as the need for a resetting condition and derivative signals, whether using iterative control mode or repetitive control mode, are also made clear in relation to different control objectives and plant dynamics. |
| Uitgever: |
Taylor & Francis |
| Bronbestand: |
Elektronische Wetenschappelijke Tijdschriften |
Details van artikel 15 van 16 gevonden artikelen
| << vorige | volgende >> |