A Hybrid Learning/Adaptive Partial State Feedback Controller for RLED Robot Manipulators

Abstract

In this paper, we present an adaptive partial state-feedback repetitive leaniing control algorithm for a rigid-link electrically­ driven (RLEO) robot manipulator actuated by brushed DC (BOC) motors. The proposed controller is designed to compensate for re­ peatable mechanical uncertainty via a learning control term while an adaptive control loop is used to compensate for parametric uncer­ tainty in the electrical dynamics. The proposed controller guaran­ tees semi-global asymptotic link position tracking while only requir­ ing measuremcnts of link position and electrical winding current.