A new repetitive controller for mechanical manipulators

DOI10.1002/rob.4620080406zbMath0727.70036OpenAlexW2140218824MaRDI QIDQ3350905

Nader Sadegh, Kennon Guglielmo

Publication date: 1991

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620080406

zbMATH Keywords

dry frictionglobal asymptotic stabilityperiodic tasksunmodelled dynamicsactuator/sensor noisemotion control of mechanical manipulatorspay-load inertia variationsrepetitive learning controllerrobust stability of the nonideal control systemScara type manipulator

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Differential geometric aspects in kinematics (53A17)

Related Items (2)

On equivalence between internal and external model-based repetitive learning controllers for nonlinear passive systems ⋮ Adaptive backstepping repetitive learning control design for nonlinear discrete‐time systems with periodic uncertainties

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