2015
DOI: 10.1115/1.4029525
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A Repetitive Learning Method Based on Sliding Mode for Robot Control With Actuator Saturation

Abstract: 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 effe… Show more

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Cited by 5 publications
(7 citation statements)
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“…As for the LQRT and OISMC, the selected Q LQRT , R LQRT , Q O , R O , and δ O matrices for the LQRT and OISMC can be described as in (31) and (32), respectively:…”
Section: Resultsmentioning
confidence: 99%
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“…As for the LQRT and OISMC, the selected Q LQRT , R LQRT , Q O , R O , and δ O matrices for the LQRT and OISMC can be described as in (31) and (32), respectively:…”
Section: Resultsmentioning
confidence: 99%
“…Moreover, SMC suffers from the robustness issue in the reaching phase. Thus far, several studies have been published on minimising control effort in robotic manipulator applications, such as in [30,31]. Both controllers in [30,31] offer a promising result; however, such control schemes are complicated and sensitive to unmodelled dynamics [26,32], especially for a high degree-of-freedom (DOF) system.…”
Section: Introductionmentioning
confidence: 99%
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“…Due to conditions (21) and (22) and equation (23), it follows that G 1 (q, _ q) = 0 and G 2 (q, j) = 0 will be fulfilled simultaneously only whenq…”
Section: Discussionmentioning
confidence: 99%
“…Via identifying the Fourier coefficients of the input reference signal, an adaptive learning proportional derivative type controller was presented in [16]. In [18], a sliding mode based repetitive learning controller was designed for tracking control of robot manipulators subject to actuator saturation. Recently, in [19][20][21][22][23], Verrelli et al researched several aspects of a linear repetitive learning control method where Padé approximation was made use of.…”
Section: Introductionmentioning
confidence: 99%