Output zeroing and iterative learning control for 3 link acrobat robot

Abstract

We propose a control algorithm for solving the problem of stabilization of a 3 link acrobat robot in upright position on a horizontal bar based on an approximation of a proper output function. Also, in order to overcome uncertainties of the system an iterative learning control (ILC) method is applied for a terminal state control. The validity of the proposed method is shown by numerical simulations.