2021
DOI: 10.5937/fme2102429d
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State space constrained iterative learning control for 3DOF robotic manipulator

Abstract: In this paper, the trajectory tracking problem of a nonlinear robotic system with 3DOFs under the control signal obtained through nonlinearly constrained state spaceIterative Learning Control (ILC) methods is considered. The focus of this paper is the analysis of different control system parameters on the convergence rate of two constrained state space ILCalgorithms: Bounded Error Algorithm (BEAILC) and Constrained Output algorithm (COILC), as well as the comparison between these two algorithms through simulat… Show more

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