Lyapunov based output feedback learning control of robot manipulators


Doğan K. M. , TATLICIOĞLU E. , ZERGEROĞLU E., ÇETİN K.

2015 American Control Conference (ACC), Chicago, IL, United States Of America, 1 - 03 July 2015, pp.5337-5342 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/acc.2015.7172173
  • City: Chicago, IL
  • Country: United States Of America
  • Page Numbers: pp.5337-5342

Abstract

This paper address the output feedback learning tracking control problem for robot manipulators with repetitive desired joint level trajectories. Specifically, an observer-based output feedback learning controller for periodic trajectories with known period have been proposed. The proposed learning controller guarantees semi-global asymptotic tracking despite the existence of parametric uncertainties associated with the robot dynamics and lack of velocity measurements. A learning-based feedforward term in conjunction with a novel observer formulation is designed to obtain the aforementioned result. The stability of the controller-observer couple is guaranteed via Lyapunov based arguments. Numerical studies performed on a two link robot manipulator are also presented to demonstrate the viability of the proposed method.