A learning control algorithm for periodic robot synchronization: Experimental results | Zendy

Gnucci M. | Zendy; Gospodarczyk M. | Zendy; Carnevale D. | Zendy; Tiberti M. | Zendy; Tomei P. | Zendy; Verrelli C. M. | Zendy

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A learning control algorithm for periodic robot synchronization: Experimental results

Author(s) -

Gnucci M.,

Gospodarczyk M.,

Carnevale D.,

Tiberti M.,

Tomei P.,

Verrelli C. M.

Publication year - 2018

Publication title -

international journal of adaptive control and signal processing

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.73

H-Index - 66

eISSN - 1099-1115

pISSN - 0890-6327

DOI - 10.1002/acs.2868

Subject(s) - synchronization (alternating current) , tracking (education) , computer science , position (finance) , identifier , control theory (sociology) , robot , task (project management) , joint (building) , control (management) , algorithm , artificial intelligence , engineering , channel (broadcasting) , architectural engineering , psychology , computer network , pedagogy , systems engineering , finance , economics , programming language

Summary A repetitive learning control algorithm, that achieves asymptotic joint position tracking for robotic manipulators characterized by uncertain dynamics and performing a repetitive task, can be theoretically and experimentally endowed with a recursive period identifier. Experimental results illustrate its application to a 2‐link robot master‐slave synchronization problem, in which the joint positions of the master, ie, “periodic” with uncertain and even time‐varying period, are only available at runtime.

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