Observer-Based AILC Design for Robotic Manipulator

Jianming Wei (), Hong Wang () and Fang Liu ()
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Jianming Wei: Naval University of Engineering, College of Weapons Engineering
Hong Wang: Naval Aviation University
Fang Liu: Naval University of Engineering, College of Weapons Engineering

Chapter Chapter 6 in Iterative Learning Control for Nonlinear Time-Delay System, 2022, pp 161-178 from Springer

Abstract: Abstract In this chapter, the research for plants with unmeasurable states and unknown control gain is carried out by taking manipulator as investigation object, which successfully overcomes the design difficulty from unknown control gain, absence of measurement of states and output delays. During the design the observer gain is determined by using LMI method and hyperbolic tangent function and convergent sequence are employed to design the robust term for purposed of guaranteeing the learning convergence.

Date: 2022
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DOI: 10.1007/978-981-19-6317-9_6

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