Estimation-Based Quadratic Iterative Learning Control for Trajectory Tracking of Robotic Manipulator With Uncertain Parameters

Abstract

In this paper, we consider iterative learning control for trajectory tracking of robotic manipulator with uncertainty. An improved quadratic-criterion-based iterative learning control approach (Q-ILC) is proposed to obtain better trajectory tracking performance for the robotic manipulator. Besides of the position error information, which has been used in existing Q-ILC methods for robotic control, the velocity error information is also taken into consideration such that a new norm-optimal objective function is constructed. Convergence and error sensitivity properties for the proposed method are also analyzed. To deal with uncertainty, the Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) are incorporated for estimation of uncertain parameters by constructing extended system states. The performances between the two filters are also compared. Simulations on a 2DOF Robot manipulator demonstrate that the improved Q-ILC with parameter estimators can achieve faster convergence and better transient performance compared to the original Q-ILC, in the presence of measurement noise and model uncertainty.

Keywords

• Iterative learning control
• quadratic-performance-criterion
• norm-optimal
• EKF
• UKF
• robot manipulator