A hybrid learning/adaptive partial state feedback controller for RLED robot manipulators |
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| Authors: | H CANBOLAT J HU D M DAWSON |
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| Affiliation: | Department of Electrical and Computer Engineering , Center for Advanced Manufacturing. Clemson University , Clemson, SC, 29634-0915, U.S.A. |
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| Abstract: | In this paper, we present an adaptive partial state-feedback repetitive learning control algorithm for a rigid-link electrically-driven (RLED) robot manipulator actuated by brushed DC (BDC) motors. The proposed controller is designed to compensate for repeatable mechanical uncertainty via a learning control term while an adaptive control loop is used to compensate for parametric uncertainty in the electrical dynamics. The proposed controller guarantees semi-global asymptotic link position tracking while only requiring measurements of link position and electrical winding current (e.g. measurements of link velocity are not required). |
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