Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm
Abstract
In this paper, a new open-closed-loop PIDD2/PID type iterative learning control is studied for joint space trajectory tracking control of time-varying robotic manipulator. We propose intelligent control system which consists of a computed torque controller for linearizing robot dynamics. Then open-closed ILC is applied to the linearized system to further enhance tracking performance for repetitive tasks and deal with the model uncertainties. It is theoretically proven that the boundednesses of the tracking error are guaranteed in the presence of model uncertainty. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed advanced open-closed iterative learning control scheme.
Keywords:
trajectory tracking / robot / PIDD2 / iterative learning control / computed torque / algorithms PIDSource:
2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI, 2018Publisher:
- Institute of Electrical and Electronics Engineers Inc.
Funding / projects:
- Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design (RS-MESTD-Technological Development (TD or TR)-35006)
- Intelligent Control Systems of the Air-conditioning for the Purpose of Achieving Energy Efficient Exploitation Regimes in the Complex Operating Conditions (RS-MESTD-Technological Development (TD or TR)-33047)
Collections
Institution/Community
Mašinski fakultetTY - CONF AU - Lazarević, Mihailo AU - Mandić, Petar AU - Cvetković, Boško AU - Bučanović, Ljubiša AU - Dragović, Mladen PY - 2018 UR - https://machinery.mas.bg.ac.rs/handle/123456789/2971 AB - In this paper, a new open-closed-loop PIDD2/PID type iterative learning control is studied for joint space trajectory tracking control of time-varying robotic manipulator. We propose intelligent control system which consists of a computed torque controller for linearizing robot dynamics. Then open-closed ILC is applied to the linearized system to further enhance tracking performance for repetitive tasks and deal with the model uncertainties. It is theoretically proven that the boundednesses of the tracking error are guaranteed in the presence of model uncertainty. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed advanced open-closed iterative learning control scheme. PB - Institute of Electrical and Electronics Engineers Inc. C3 - 2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI T1 - Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm DO - 10.1109/INISTA.2018.8466308 ER -
@conference{ author = "Lazarević, Mihailo and Mandić, Petar and Cvetković, Boško and Bučanović, Ljubiša and Dragović, Mladen", year = "2018", abstract = "In this paper, a new open-closed-loop PIDD2/PID type iterative learning control is studied for joint space trajectory tracking control of time-varying robotic manipulator. We propose intelligent control system which consists of a computed torque controller for linearizing robot dynamics. Then open-closed ILC is applied to the linearized system to further enhance tracking performance for repetitive tasks and deal with the model uncertainties. It is theoretically proven that the boundednesses of the tracking error are guaranteed in the presence of model uncertainty. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed advanced open-closed iterative learning control scheme.", publisher = "Institute of Electrical and Electronics Engineers Inc.", journal = "2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI", title = "Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm", doi = "10.1109/INISTA.2018.8466308" }
Lazarević, M., Mandić, P., Cvetković, B., Bučanović, L.,& Dragović, M.. (2018). Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm. in 2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI Institute of Electrical and Electronics Engineers Inc... https://doi.org/10.1109/INISTA.2018.8466308
Lazarević M, Mandić P, Cvetković B, Bučanović L, Dragović M. Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm. in 2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI. 2018;. doi:10.1109/INISTA.2018.8466308 .
Lazarević, Mihailo, Mandić, Petar, Cvetković, Boško, Bučanović, Ljubiša, Dragović, Mladen, "Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm" in 2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI (2018), https://doi.org/10.1109/INISTA.2018.8466308 . .