A new trajectory tracking control method based on the U-model is proposed to improve the trajectory tacking speed of robot\nmanipulators. The U-model method is introduced to relieve the requirement of the dynamic mathematical model and make the\ndesign of trajectory tracking controller of robot manipulators simpler. To further improve the trajectory tacking speed, an\nimproved iterative learning control algorithm is used to suppress the influence of the initial state error with less computation time.\nExperimental results show that the proposed control method is effective and practical for the trajectory tracking control of robot\nmanipulators, especially with a high real-time requirement.
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