This paper addresses the problem of designing a global 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 learning PD 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.

Liuzzo, S., Tomei, P. (2008). A global adaptive learning control for robotic manipulators. AUTOMATICA, 44(5), 1379-1384 [10.1016/j.automatica.2007.10.025].

A global adaptive learning control for robotic manipulators

TOMEI, PATRIZIO
2008

Abstract

This paper addresses the problem of designing a global 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 learning PD 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.
Pubblicato
Rilevanza internazionale
Articolo
Sì, ma tipo non specificato
Settore ING-INF/04 - Automatica
English
Con Impact Factor ISI
learning control; adaptive control; nonlinear systems; PD control; robotic manipulators
http://www.sciencedirect.com/science/article/pii/S0005109807004487
Liuzzo, S., Tomei, P. (2008). A global adaptive learning control for robotic manipulators. AUTOMATICA, 44(5), 1379-1384 [10.1016/j.automatica.2007.10.025].
Liuzzo, S; Tomei, P
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/38654
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