Theoretical Insights on Contraction-Type Iterative Learning Control for Biorobotic Systems with Preisach Hysteresis. (17th June 2016)

• Record Type: Journal Article
• Authors: Hu, Tianjiang; Wang, Shuyuan; Zhou, Han; Wang, Guangming; Zhang, Daibing
• Is Part Of: International journal of advanced robotic systems. Volume 13:Number 3(2016)
• Publication Date: 2016-06-17
• Subjects: Hysteresis -- Iterative Learning Control -- Preisach Model -- Memory Clearing Operator; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/63632
• Languages: English
• ISSNs: 1729-8806

Abstract

This article offers new insights on the learning control approach developed by [Hu et al. IEEE/ASME Trans. Mechatronics, 19(1): 191–200, 2014]. Theoretical insights are further proposed to unveil why the contraction-type iterative learning control (ILC) schemes are suitable and effective in compensating for hysteresis, widely existing in biorobotic locomotion. Under such circumstances, iteration-based second-order dynamics is adopted to describe the biorobotic systems acted upon by one unknown Preisach hysteresis term. The memory clearing operator is mathematically proven to enable feasibility of contraction-type ILC methods, regardless of whether the initial state is accurately set or not. The simulation examples confirm that the developed iteration-based controller combined with a preceded operator effectively reduce tracking errors caused by the hysteresis nonlinearity. Furthermore, the new insights on theoretical feasibility are definitively corroborated in accordance with the previously published experimental results.