Wavelet series based iterative learning controller design for industrial robot manipulators

Abstract

In this paper, a wavelet series based learning controller has been proposed for the tracking control of robot manipulator. Wavelet series approximation is used to approximate the desired and actual trajectories of the system into finite number of wavelet coefficients. A learning controller is designed in wavelet domain which forces the wavelet coefficients of the actual output approach to the corresponding wavelet coefficients of the desired trajectory, which are known constants, such that the tracking of robot manipulator is achieved. Numerical experimentation studies show the ability of the learning controller designed in wavelet domain in the presence of uncertainties in robot manipulator system.