ON THE FEEDBACK-FEEDFORWARD CONTROL FOR ROBOT MANIPULATOR USED DISTURBANCE ESTIMATOR

Technology

In this paper, the feedback-feedforward controllers combining with the uncertainty and disturbance identifiers is designed for the robot manipulator. That is an iterative learning controller(ILC) proposed to achieve precise tracking control of robotic manipulators over a finite time interval. The learning is done in a feedback configuration and the learning law updated the feedback-feedforward input from the plant input of the previous trials. The designed PD tracking controller for robotic manipulators with the proposed disturbance estimator will be also compared with the learning control process which is applied to the reference tracking control of a two link robot manipulator and good tracking performance is obtained in the simulation.

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