Abstract
An initial-rectification adaptive iterative learning control scheme is proposed to solve the angle tracking problem of robot manipulators with input deadzone under nonzero initial errors. Lyapunov approach is utilized to design the controller. First, the initial-rectification auxiliary reference signal is constructed to overcome the obstacle caused by nonzero initial errors during ILC design. Second, adaptive ILC strategy and robust control strategy are adopted for dealing with deadzone nonlinearity. In addition, adaptive learning neural network is applied to approximate for uncertainties. The stability of closed-loop robotic system is rigorously proven by theoretical analysis. In the end, numerical simulation results are provided to verify the effectiveness of the proposed adaptive iterative learning control scheme.
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.
