Iterative Learning Control of Robotic Manipulators by Hybrid Adaptation Schemes ~Application of 2-Dimensional Adaptive Control~

Author:	Miyasato Yoshihiko, The Institute of Statistical Mathematics, Japan
Topic:	1.2 Adaptive and Learning Systems
Session:	Iterative Learning Control
Keywords:	learning control, adaptive control, robotic manipulators, adaptive algorithms, least squares identification, learning algoritms

Abstract

This paper provides alternative approachs to solve iterative learning control (ILC) of robotic manipulators by introducing hybrid adaptation schemes and extended versions of those, that is, 2-dimensional adaptive control. The 2-dimensional adaptive control strategies contain 2 types of adaptation processes, that is, off-line tuning and on-line tuning, simultaneously, and provide more skillful learning properties where adaptive processes themselves are improved adaptively.