A Hybrid Controller of Adaptive and Learning Control for Robot Manipulators

摘要

In this paper, we deal with a hybrid controller of learning control and adaptive control for robot manipulators. Some hybrid controllers of adaptive and learning control are proposed by now. The hybrid controller proposed by Dawson et. al. are made in combination with the repetitive learning control and the model-based adaptive control. However, the stability condition of Dawson's controller consists from many equations and the condition for stability is sever. To relax the condition for stability and to make easy to use a hybrid contoroller, we make the new hybrid controller based on Dawson's controller. We give a proof of stability of new controller by using Lyapunov method and show experimental results with computer simulation of 2 link manipulator to verify the effectiveness of the proposed controller.