Abstract
This paper investigates iterative learning control based on passivity for two-degree-of-freedom (2DOF) robot manipulators with antagonistic bi-articular muscles. Firstly, a brief summary of dynamics of 2DOF robot manipulators with antagonistic bi-articular muscles is given. Next, an error dynamics of the bi-articular manipulator for iterative learning control that has an output strictly passivity property is constructed. Then, we propose an iterative learning control law for the bi-articular manipulator. The proposed torque input does not need the parameters for the accurate models. Convergence analysis of the closed-loop system is carried out based on passivity. Finally, simulation results are presented in order to confirm the effectiveness of the proposed control law.
| Original language | English |
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| Title of host publication | 2014 IEEE Conference on Control Applications, CCA 2014 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 234-239 |
| Number of pages | 6 |
| ISBN (Print) | 9781479974092 |
| DOIs | |
| Publication status | Published - 2014 Dec 9 |
| Event | 2014 IEEE Conference on Control Applications, CCA 2014 - Juan Les Antibes Duration: 2014 Oct 8 → 2014 Oct 10 |
Other
| Other | 2014 IEEE Conference on Control Applications, CCA 2014 |
|---|---|
| City | Juan Les Antibes |
| Period | 14/10/8 → 14/10/10 |
ASJC Scopus subject areas
- Computer Science Applications
- Control and Systems Engineering