Trajectory tracking control for perturbed robot manipulators using iterative learning method

To solve the trajectory tracking problem for rigid robot manipulators subject to external disturbances and performing repetitive tasks, we present in this paper a controller scheme containing a feedback action plus an iteratively learning term representing the disturbance estimation. The proof of the asymptotic stability is based upon the use of a Lyapunov-like positive definite sequence, which is shown to be monotonically decreasing under the proposed control scheme. In this proof of the stability, the saturation technique is used. Finally, simulation results on two-link manipulator are provided to illustrate the effectiveness of the proposed controller.