Application of iterative learning in adaptive control for industrial manipulator

Abstract

Based on the modeling error of the unknown items in robotic motion control model,a robot combined adaptive control method had been proposed based on iterative learning and sliding mode control.The dynamic equation of robot had been expressed in the form of state regress vectors,separating the time-varying parameters from the physical parameters.By using the adaptive law of the design parameter,the online estimation for unknown parameters can be carried out.By limiting the tracking error on the sliding mode plane and the effective tracking of the object orbit is allowed.The simulation case shows that the proposed integrated control algorithm has certain feasibility in robot orbit trace.