ADAPTIVE NONLINEAR PD LEARNING CONTROL FOR ROBOT MANIPULATORS

摘要

A new control method, called adaptive nonlinear PD learning control (NPD-LC), is proposed for robot manipulator applications in this paper. The proposed control structure is a combination of a nonlinear PD control structure and a directly learning structure. Consequently, this new control method possesses both adaptive and on-line learning properties. One of the unique features of the NPD-LC algorithm is that the learning is based on the previous torque profile of the repetitive task. It is proved that the NPD-LC enjoys the asymptotic convergence for both tracking positions and tracking velocities. Simulation studies were conducted by comparing the proposed method with many other existing methods. As a result, it was demonstrated that the NPD-LC method can achieve a faster convergence speed. The proposed NPD-LC is robust and can be implemented for the control of robot manipulators.