@inproceedings{622b0a379dea4d5b908039773d47ffda,
title = "Spatial Iterative Learning Control for Robots in Contact with Unknown Environments",
abstract = "A spatial iterative control method is developed for robots to interact with an unknown environment at a desired level. Motivated by the human adaptive behaviour, the developed robot controller can adapt its reference trajectory to maintain a desired interaction force by designing a learning law. Considering the uncertain dynamics of the robot, an adaptive control algorithm integrating neural networks is employed to enable the robot to track the reference trajectory, so that the interaction performance is achieved. Through Lyapunov theory, signals of the closed-loop system are analyzed and proven to be convergent. Simulation results exhibit that the learning controller for the robot has adaptive properties in contacting tasks.",
keywords = "Adaptive control, contact tasks, motion adaptation, spatial iterative learning control",
author = "Yuting Guo and Guangzhu Peng and Dengxiu Yu and Chenguang Yang",
note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 25th IEEE International Conference on Industrial Technology, ICIT 2024 ; Conference date: 25-03-2024 Through 27-03-2024",
year = "2024",
doi = "10.1109/ICIT58233.2024.10540707",
language = "英语",
series = "Proceedings of the IEEE International Conference on Industrial Technology",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "ICIT 2024 - 2024 25th International Conference on Industrial Technology",
}