抄録
This paper provides an alternative approach to solve iterative learning control (ILC) of robotic manipulators by introducing hybrid adaptation schemes and extended versions of those. The hybrid adaptation schemes are adaptive control structures which involve continuous-time control of processes and discrete-time updates of tuning parameters simultaneously. The various hybrid adaptation schemes are summarized, and the extended versions of those, that is, “2-dimensional adaptive control schemes”, are also proposed. 2-dimensional adaptive control strategies contain2types of adaptation processes, and provide more skillful learning properties where adaptive processes themselves can be improved adaptively.
