Abstract
To solve the trajectory tracking problem of robotic manipulators with uncertain model information and unknown external disturbances, an adaptive iterative learning control method with second-order terminal sliding mode method is proposed in this paper. This method adopts nonsingular fast terminal sliding mode surface and second-order sliding mode control to improve the convergence speed of system states and robustness. Adaptive iterative learning control is used to approximate system model and bounded external disturbance for getting rid of the dependence on specific mathematical model and improving control precision. The convergence of this controller along iterative times is proved by composite energy function. With Denso VP6242G manipulator as the controlled object, this proposed controller has better performance comparing to traditional iterative learning controller designs.
Sign-in/Register to access full text options 
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.
