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Modeling and robust adaptive iterative learning control of a vehicle‐based flexible manipulator with uncertainties
Author(s) -
Xing Xueyan,
Liu Jinkun
Publication year - 2019
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4500
Subject(s) - control theory (sociology) , discretization , iterative learning control , lyapunov function , computer science , adaptive control , stability (learning theory) , control engineering , control (management) , mathematics , engineering , artificial intelligence , nonlinear system , physics , mathematical analysis , quantum mechanics , machine learning
Summary In this brief, this paper deals with a robust adaptive iterative learning control (ILC) problem for a flexible manipulator attached to a moving vehicle with uncertainties. To begin with, considering the infinite dimensionality of the flexible distributed parameter system, a coupled ordinary differential equation and partial differential equation model is established without any discretization. Then, it is followed by a presentation of an adaptive ILC strategy, which can drive the vehicle and joint to the desired positions based on a proportional‐derivative feedback structure with unmodeled dynamics and external disturbances. The deformation of the flexible manipulator can also be suppressed simultaneously under the proposed control laws. By using Lyapunov's direct method, the stability of the closed‐loop system is demonstrated. The simulation results are provided to illustrate the effectiveness of the proposed control laws.