Adaptive Iterative Learning Control for Rigid-Flexible Coupled Manipulator System with Variable Tracking Trajectory

In this paper, the adaptive iterative learning control problem of a rigid-flexible coupled manipulator system with variable tracking trajectories is investigated. The dynamics model of the rigid-flexible coupled manipulator is represented by a partial differential equation (PDE). An improved D-type adaptive iterative learning algorithm is proposed, and the Lyapunov function method is used to prove the convergence of the joint axis angle error and the flexible manipulator elasticity along the iterative axis, so as to achieve the complete tracking of the joint axis angle to the variable desired angle trajectory and the complete suppression of the flexible manipulator part of the elasticity of the flexible manipulator. Finally, the effectiveness of the proposed algorithm is validated by numerical simulations.