Iterative Learning Controller Design Based on LPV H∞ Feedback for Robotic Manipulator
Yu Zhongwei,Chen Huitang,Wang Yuejuan
(School of Electronics and Information Engineering,Tongji University,Shanghai 200092,China)

Abstract: An iterative learning controller based on gain scheduled linear parameter varying（LPV）H∞feedback for high-precision trajectory tracking of uncertain robotic manipulator was presented．The controller included two parts.One was the feedback part which was designed to LPV H∞control, the other was the feedforward part which was designedto high-order PD-type iterative learning control. This paper gave the convergence conditions of the proposed controller and proved that the tracking error bound was proportional to the bounds of reinitialization error and output distrubance. Simulation results demonstrate that the proposed controller possesses not only always disturb attenuation and robust stability performance as the joint positions vary, but also the high-precision trajectory tracking performance.
Keywords: robot;LPV H∞ feedback;iterative learning control;high-order PD-type