Abstract
An improved adaptive iterative learning algorithm is applied on manipulators with repetitive time-varying disturbance. The saturation function was used when designed control law to reduce the torque chattering problem, and to force the manipulators to track time-varying reference signal fast, correctly and with assigned speed. The effectiveness of the proposed control system is demonstrated by Lyapunov analysis and simulation results: when the number of iteration increase, the tracking error will converge to zero uniformly with respect to the finite time interval, and chattering phenomenon reduced.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
