Suboptimal output regulation of robotic manipulators by iterative learning

Abstract

The problem of tracking output trajectories generated by a finite dimensional exosystem using a finite dimensional iterative learning algorithm has been largely considered in literature for linear systems. In this paper, for a class of nonlinear systems, a piecewise continuous reference is considered and a suitable norm of the output error is minimised rather then zeroed. An application to robotic manipulators concludes the paper.