An Equilibrium Factor-Based Iterative Learning Control of Robot Arms Against Initial Errors and Actuator Faults

作者：Mouquan Shen, Zihao Wang, Xudong Zhao, Guangdeng Zong, Qing-Guo Wang · 发表于：IEEE Transactions on Reliability · 年份：2025 · DOI：10.1109/tr.2025.3634545 · 被引用次数：2 · 研究领域：Iterative Learning Control Systems、Teleoperation and Haptic Systems、Adaptive Control of Nonlinear Systems

This article investigates iterative learning control of robot arms with initial errors and actuator faults. Resorting to backstepping technique, an actual controller that removes the iterative convergemt sequence is constructed to simplify the design. New updating laws with equilibrium factor are developed to treat the nonstrictnegative difference of composite energy function. A contraction mapping-based composite energy function method is executed to provide the convergence of errors. Finally, the validity of the proposed method is verified through a robot arm example.