Feedback-Based Iterative Learning Design and Synthesis With Output Constraints for Robotic Manipulators
Gijo Sebastian, Ying Tan, Denny Oetomo, Iven Mareels
IEEE CONTROL SYSTEMS LETTERS | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | Published : 2018
Feedback-based iterative learning control (ILC) has been proposed to improve the unacceptable transient performance (either in state or in output) in the iteration-domain. This letter addresses a special performance requirement of output constraints, which are motivated from the safety requirements in robotic manipulators. A barrier-function like Lyapunov function is used to design a new state feedback (or a proportional-derivative controller) to ensure that output constraints are satisfied in the finite time-domain. This state feedback is then combined with the standard feed-forward ILC to track the desired trajectory. With the help of composite energy function, it is shown that, for roboti..View full abstract
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Awarded by Australian Research Council
This work was supported by the Australian Research Council Discovery Project under Grant DP160104018.