TY  - JOUR
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
AU  - Ostojić, Srdan
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3584
AB  - Recently, calculus of general order alpha is an element of R has attracted attention in scientific literature, where fractional operators are often used for control issues and the modeling of the dynamics of complex systems. In this work, some attention will be devoted to the problem of viscous friction in robotic joints. The calculus of general order and the calculus of variations are utilized for the modeling of viscous friction which is extended to the fractional derivative of the angular displacement. In addition, to solve the output tracking problem of a robotic manipulator with three DOFs with revolute joints in the presence of model uncertainties, robust advanced iterative learning control (AILC) is introduced. First, a feedback linearization procedure of a nonlinear robotic system is applied. Then, the proposed intelligent feedforward-feedback AILC algorithm is introduced. The convergence of the proposed AILC scheme is established in the time domain in detail. Finally, simulations on the given robotic arm system confirm the effectiveness of the robust AILC method.
PB  - Sage Publications Ltd, London
T2  - Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie
T1  - Further results on advanced robust iterative learning control and modeling of robotic systems
EP  - 4734
IS  - 20
SP  - 4719
VL  - 235
DO  - 10.1177/0954406220965996
ER  - 

@article{
author = "Lazarević, Mihailo and Mandić, Petar and Ostojić, Srdan",
year = "2021",
abstract = "Recently, calculus of general order alpha is an element of R has attracted attention in scientific literature, where fractional operators are often used for control issues and the modeling of the dynamics of complex systems. In this work, some attention will be devoted to the problem of viscous friction in robotic joints. The calculus of general order and the calculus of variations are utilized for the modeling of viscous friction which is extended to the fractional derivative of the angular displacement. In addition, to solve the output tracking problem of a robotic manipulator with three DOFs with revolute joints in the presence of model uncertainties, robust advanced iterative learning control (AILC) is introduced. First, a feedback linearization procedure of a nonlinear robotic system is applied. Then, the proposed intelligent feedforward-feedback AILC algorithm is introduced. The convergence of the proposed AILC scheme is established in the time domain in detail. Finally, simulations on the given robotic arm system confirm the effectiveness of the robust AILC method.",
publisher = "Sage Publications Ltd, London",
journal = "Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie",
title = "Further results on advanced robust iterative learning control and modeling of robotic systems",
pages = "4734-4719",
number = "20",
volume = "235",
doi = "10.1177/0954406220965996"
}

Lazarević, M., Mandić, P.,& Ostojić, S.. (2021). Further results on advanced robust iterative learning control and modeling of robotic systems. in Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie
Sage Publications Ltd, London., 235(20), 4719-4734.
https://doi.org/10.1177/0954406220965996

Lazarević M, Mandić P, Ostojić S. Further results on advanced robust iterative learning control and modeling of robotic systems. in Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie. 2021;235(20):4719-4734.
doi:10.1177/0954406220965996 .

Lazarević, Mihailo, Mandić, Petar, Ostojić, Srdan, "Further results on advanced robust iterative learning control and modeling of robotic systems" in Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie, 235, no. 20 (2021):4719-4734,
https://doi.org/10.1177/0954406220965996 . .