This paper proposes a sliding mode based repetitive learning control method for high-precision tracking of robot manipulators with actuator saturation. Advantages of the proposed control include the absence of model parameter in the control law formulation and the ability to remove the possibility of actuator failure due to excessive torque input levels. Lyapunov's direct method is employed to prove semiglobal asymptotic tracking. Simulation results on a three degree-of-freedom (3DOF) robot illustrate the effectiveness and improved performance of the proposed scheme.
A Repetitive Learning Method Based on Sliding Mode for Robot Control With Actuator Saturation
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received March 4, 2013; final manuscript received December 30, 2014; published online February 9, 2015. Assoc. Editor: YangQuan Chen.
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Tian, H., and Su, Y. (June 1, 2015). "A Repetitive Learning Method Based on Sliding Mode for Robot Control With Actuator Saturation." ASME. J. Dyn. Sys., Meas., Control. June 2015; 137(6): 064505. https://doi.org/10.1115/1.4029525
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