Initial-Rectification Neuro-Adaptive Iterative Learning Control for Robot Manipulators With Input Deadzone and Nonzero Initial Errors
An initial-rectification adaptive iterative learning control scheme is proposed to solve the angle tracking problem of robot manipulators with input deadzone under nonzero initial errors. Lyapunov approach is utilized to design the controller. First, the initial-rectification auxiliary reference sig...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10058953/ |