Trajectory tracking controlof robot manipulators using distrubance observer based iterative learning law

Abstract EN

This paper presents a disturbance observer based iterative learning control for robotic manipulators.

In this control scheme, the whole control law consists of two parts, the feedback control law and the disturbance estimated given by a disturbance observer, which has iterative from.

Using yaupon method, the asymptotic stability of the whole system is guaranteed, and the external disturbances are compensated.

Simulation results on two-link manipulator show the asymptotic convergence of tracking error.