Adaptive learning tracking control of robotic manipulators with uncertainties

Key words:  Adaptive control  Learning control  Robotic dynamic systems  Uncertainties

摘要:

Abstract:

An adaptive learning tracking control scheme is developed for robotic manipulators by a synthesis of adaptive control and learning control approaches. The proposed controller possesses both adaptive and learning properties and thereby is able to handle robotic systems with both time-varying periodic uncertainties and time invariant parameters. Theoretical proofs are established to show that proposed controllers ensure asymptotical tracking performance. The effectiveness of the proposed approaches is validated through extensive numerical simulation results.