This paper addresses the problem of designing a global, output error feedback based, adaptive learning control for robotic manipulators with revolute joints and uncertain dynamics. The reference signals to be tracked are assumed to be smooth and periodic with known period. By developing in Fourier series expansion the input reference signals of every joint, an adaptive, output error feedback, learning control is designed which 'learns' the input reference signals by identifying their Fourier coefficients: global asymptotic and local exponential stability of the tracking error dynamics are obtained when the Fourier series expansion of each Input reference signal is finite, while arbitrary small tracking errors are achieved otherwise. The resulting control is not model based and depends only on the period of the reference signals and on some constant bounds on the robot dynamics. © 2006 IEEE.

Liuzzo, S., & Tomei, P. (2006). Global adaptive learning control of robotic manipulators by output error feedback. In 32nd Annual conference on IEEE industrial electronics, IECON 2006 - (pp.3874-3879) [10.1109/IECON.2006.347556].

Global adaptive learning control of robotic manipulators by output error feedback

TOMEI, PATRIZIO
2006

Abstract

This paper addresses the problem of designing a global, output error feedback based, adaptive learning control for robotic manipulators with revolute joints and uncertain dynamics. The reference signals to be tracked are assumed to be smooth and periodic with known period. By developing in Fourier series expansion the input reference signals of every joint, an adaptive, output error feedback, learning control is designed which 'learns' the input reference signals by identifying their Fourier coefficients: global asymptotic and local exponential stability of the tracking error dynamics are obtained when the Fourier series expansion of each Input reference signal is finite, while arbitrary small tracking errors are achieved otherwise. The resulting control is not model based and depends only on the period of the reference signals and on some constant bounds on the robot dynamics. © 2006 IEEE.
IECON 2006 - 32nd Annual conference on IEEE industrial electronics
Paris
2006
Rilevanza internazionale
contributo
Settore ING-INF/04 - Automatica
eng
Asymptotic stability; Dynamics; Education; Electric currents; Electronics industry; Flexible manipulators; Fourier series; Frequency division multiple access; Harmonic analysis; Industrial electronics; Learning algorithms; Learning systems; Manipulators; Power control; Robotics; Robots; Signal processing; Adaptive learning control; Annual conference; Fourier coefficients; Fourier-series expansion; Input reference; Learning control; Local exponential stability; Model based; Output error; Paper addresses; Reference signals; Revolute joints; Robot dynamics; Robotic manipulators; Tracking error dynamics; Tracking errors; Uncertain dynamics; Fourier analysis
Intervento a convegno
Liuzzo, S., & Tomei, P. (2006). Global adaptive learning control of robotic manipulators by output error feedback. In 32nd Annual conference on IEEE industrial electronics, IECON 2006 - (pp.3874-3879) [10.1109/IECON.2006.347556].
Liuzzo, S; Tomei, P
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/2108/37788
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