Estimation-Based Quadratic Iterative Learning Control for Trajectory Tracking of Robotic Manipulator With Uncertain Parameters

Estimation-Based Quadratic Iterative Learning Control for Trajectory Tracking of Robotic Manipulator With Uncertain Parameters

In this paper, we consider iterative learning control for trajectory tracking of robotic manipulator with uncertainty. An improved quadratic-criterion-based iterative learning control approach (Q-ILC) is proposed to obtain better trajectory tracking performance for the robotic manipulator. Besides o...

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Bibliographic Details
Main Authors: Minfeng Zhu, Lingjian Ye, Xiushui Ma
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Iterative learning control
quadratic-performance-criterion
norm-optimal
EKF
UKF
robot manipulator
Online Access:https://ieeexplore.ieee.org/document/9020131/

Internet

https://ieeexplore.ieee.org/document/9020131/

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