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		Rui YAN,Keng Peng TEE,Haizhou LI.[en_title][J].Control Theory and Technology,2010,8(2):160~175.[Copy]

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RuiYAN,KengPengTEE,HaizhouLI
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(Institute for Infocomm Research)

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DOI：10.1007/s11768-010-0010-2

Received:January 12, 2010Revised:January 12, 2010

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Adaptive learning tracking control of robotic manipulators with uncertainties

Rui YAN,Keng Peng TEE,Haizhou LI

(Institute for Infocomn Research;Institute for Infocomm Research)

Abstract:

An adaptive learning tracking control scheme is developed for robotic manipulators by a synthesis of adaptive control and learning control approaches. The proposed controller possesses both adaptive and learning properties and thereby is able to handle robotic systems with both time-varying periodic uncertainties and time invariant parameters. Theoretical proofs are established to show that proposed controllers ensure asymptotical tracking performance. The effectiveness of the proposed approaches is validated through extensive numerical simulation results.

Key words: Adaptive control Learning control Robotic dynamic systems Uncertainties