An Adaptive Controller Dominant-Type Hybrid Adaptive and Learning Controller for Trajectory Tracking of Robot Manipulators

摘要

This paper proposes a new hybrid adaptive and learning control method based on combining model-based adaptive control, repetitive learning control (RLC) and proportional-derivative control to consider the periodic trajectory tracking problem of robot manipulators. The aim of this study is to obtain a high-accuracy trajectory tracking controller by developing a simpler adaptive dominant-type hybrid controller by using only one vector for estimation of the unknown dynamical parameters in the control law. The RLC input is adopted using the original learning control law, adding a forgetting factor to achieve the convergence of the learning control input to zero. We will improve and prove that the adaptive dominant-type controller could be applied for tracking a periodic desired trajectory in which adaptive control input increases and becomes dominant of the control input, whereas the other control inputs decrease close to zero. The domination of the adaptive control input gives the advantage that the proposed controller could adjust the feed-forward control input immediately and it does not spend much time relearning the learning control input when the periodic desired trajectory is switched over from the first trajectory to another trajectory. We utilize the Lyapunov-like method to prove the stability of the proposed controller and computer simulation results to validate the effectiveness of the proposed controller in achieving the accurate tracking to the periodic desired trajectory.