AILC for Rigid-Flexible Coupled Manipulator System in Three-Dimensional Space with Time-Varying Disturbances and Input Constraints

Abstract

In this paper, an adaptive iterative learning control (AILC) law is developed for two-link rigid-flexible coupled manipulator system in three-dimensional (3D) space with time-varying disturbances and input constraints. Based on the Hamilton’s principle, a dynamic model of a manipulator system is established. The conditional equation that is coupled by ordinary differential equations and partial differential equations is derived. In order to achieve high-precision tracking of the revolving angles and vibration suppression of the elastic part, the iterative learning control law based on the disturbance observer is considered in the process of the design controller. The composite Lyapunov energy function is proposed to prove that the angle errors and elastic deformation can eventually converge to zero with the increase of the number of iterations. Ultimately, the simulation results to rigid-flexible coupled manipulator system are given to prove the convergence of the control objectives under the adaptive iterative learning control law.