A learning control algorithm for periodic robot synchronization: Experimental results. (15th March 2018)

• Record Type: Journal Article
• Authors: Gnucci, M.; Gospodarczyk, M.; Carnevale, D.; Tiberti, M.; Tomei, P.; Verrelli, C. M.
• Is Part Of: International journal of adaptive control and signal processing. Volume 32:Number 5(2018)
• Page Start: 729
• Page End: 741
• Publication Date: 2018-03-15
• Subjects: learning control -- nonlinear systems -- period identifier -- robot manipulators -- synchronization; Adaptive control systems -- Periodicals; Adaptive signal processing -- Periodicals; 629.836
• DOI: 10.1002/acs.2868
• Languages: English
• ISSNs: 0890-6327

Abstract

Summary: A repetitive learning control algorithm, that achieves asymptotic joint position tracking for robotic manipulators characterized by uncertain dynamics and performing a repetitive task, can be theoretically and experimentally endowed with a recursive period identifier. Experimental results illustrate its application to a 2‐link robot master‐slave synchronization problem, in which the joint positions of the master, ie, "periodic" with uncertain and even time‐varying period, are only available at runtime.