Each step time-limited iterative learning control for a cushion robot with motion velocity constraints

Abstract

An each step time-limited iterative learning control model was developed for a cushion robot with velocity constraints. A predictive modeling method was proposed to solve the velocity mutation problem by employing a kinematic model to constrain the velocity inputs, which can then constrain the robot’s actual velocity. Furthermore, a tracking error system was established that used constrained motion velocity and a dynamic model. A new iterative controller with each step time-limited learning was built to reduce the transient adjustment time. Simulation results and comparative analyses revealed that the proposed control method quickly stabilizes the system and ensures that the human–robot system operates at a safe velocity.