Adaptive iterative learning control for uncertain robot based on boundary layer
基于边界层的不确定机器人自适应迭代学习控制

An adaptive iterative learning control algorithm based on boundary layer is proposed for trajectory tracking of uncertain robot systems. Sliding mode variable structure control is used to improve the robustness to disturbance and perturbation, and boundary layer is used to eliminate the chattering of sliding mode control. In the iterative domain, the unknown parameters are tuned and used as part of the controller. We analyze the stability and convergence of this algorithm by using the Lyapunove-like methodology. The simulation results show that the expected control purpose can be achieved using the proposed algorithm.