Technical Brief

A Repetitive Learning Method Based on Sliding Mode for Robot Control With Actuator Saturation

[+] Author and Article Information
Huihui Tian

School of Electro-Mechanical Engineering,
Xi'an Technological University,
Xi'an 710021, China
e-mail: yezifairy@163.com

Yuxin Su

School of Electro-Mechanical Engineering,
Xidian University,
Xi'an 710071, China
e-mail: yxsu@mail.xidian.edu.cn

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received March 4, 2013; final manuscript received December 30, 2014; published online February 9, 2015. Assoc. Editor: YangQuan Chen.

J. Dyn. Sys., Meas., Control 137(6), 064505 (Jun 01, 2015) (7 pages) Paper No: DS-13-1098; doi: 10.1115/1.4029525 History: Received March 04, 2013; Revised December 30, 2014; Online February 09, 2015

This paper proposes a sliding mode based repetitive learning control method for high-precision tracking of robot manipulators with actuator saturation. Advantages of the proposed control include the absence of model parameter in the control law formulation and the ability to remove the possibility of actuator failure due to excessive torque input levels. Lyapunov's direct method is employed to prove semiglobal asymptotic tracking. Simulation results on a three degree-of-freedom (3DOF) robot illustrate the effectiveness and improved performance of the proposed scheme.

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Grahic Jump Location
Fig. 1

Periodic reference signals and positions of robot manipulators

Grahic Jump Location
Fig. 2

Position tracking errors

Grahic Jump Location
Fig. 3

Velocity tracking errors

Grahic Jump Location
Fig. 6

Position tracking errors




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