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D-type iterative learning control without resetting condition for robot manipulators

Published online by Cambridge University Press:  30 March 2011

Farah Bouakrif
Farah Bouakrif*
Affiliation:
LAMEL Laboratory, University of Jijel, BP. 98, Ouled Aissa, Jijel 18000, Algeria
*
*Corresponding author. E-mail: f.bouakrif@gmail.com
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Summary

This paper deals with iterative learning control (ILC) design to solve the trajectory tracking problem for rigid robot manipulators subject to external disturbances, and performing repetitive tasks. A D-type ILC is presented with an initial condition algorithm, which gives the initial state value in each iteration automatically. Thus, the resetting condition (the initial state error is equal to zero) is not required. The λ-norm is adopted as the topological measure in our proof of the asymptotic stability of this control scheme, over the whole finite time-interval, when the iteration number tends to infinity. Simulation results are presented to illustrate the effectiveness of the proposed control scheme.

Keywords

Iterative learning controlInitial condition algorithmλ-normRobot manipulators
Type
Articles
Information
Robotica , Volume 29 , Issue 7 , December 2011 , pp. 975 - 980
Copyright
Copyright © Cambridge University Press 2011

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