This paper addresses the problem of designing a global adaptive learning control for robotic manipulators with revolute joints and unknown 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 learning PD control is designed which ’learns’ the input reference signals by identifying their Fourier coefficients: global asymptotic tracking and local exponential tracking of both the input and the output reference signals is 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.

Liuzzo, S., & Tomei, P. (2005). A global adaptive learning control for robotic manipulators. In 44th IEEE conference on decision and control and 2005 European control conference CDC-ECC '05 (pp.3596-3601). Seville : IEEE [10.1109/CDC.2005.1582720].

A global adaptive learning control for robotic manipulators

TOMEI, PATRIZIO
2005

Abstract

This paper addresses the problem of designing a global adaptive learning control for robotic manipulators with revolute joints and unknown 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 learning PD control is designed which ’learns’ the input reference signals by identifying their Fourier coefficients: global asymptotic tracking and local exponential tracking of both the input and the output reference signals is 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.
44th IEEE conference on decision and control and European control conference ECC'05
Seville, Spain
2005
44
IEEE
Rilevanza internazionale
contributo
12-dic-2005
Settore ING-INF/04 - Automatica
English
Intervento a convegno
Liuzzo, S., & Tomei, P. (2005). A global adaptive learning control for robotic manipulators. In 44th IEEE conference on decision and control and 2005 European control conference CDC-ECC '05 (pp.3596-3601). Seville : IEEE [10.1109/CDC.2005.1582720].
Liuzzo, S; Tomei, P
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/38650
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 4
  • ???jsp.display-item.citation.isi??? 4
social impact