2007 Volume 43 Issue 12 Pages 1111-1119
This paper provides an alternative approach to solve iterative learning control of robotic manipulators by introducing hybrid adaptation schemes. The hybrid adaptation schemes are adaptive control structures which involve continuous-time control of processes and discrete-time updates of tuning parameters simultaneously. The main advantage of the proposed methodology is that the reference signals to be followed and the time intervals on which each operation is defined, are not necessarily identical to the ones in the other operations. Those peculiar features are owing to parameter estimation schemes included in the proposed methods. Various hybrid adaptation schemes are provided, and convergence properties of those are compared in the simulation studies.