Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm
Samo za registrovane korisnike
2018
Konferencijski prilog (Objavljena verzija)
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Prikaz svih podataka o dokumentuApstrakt
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.
Ključne reči:
trajectory tracking / robot / PIDD2 / iterative learning control / computed torque / algorithms PIDIzvor:
2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI, 2018Izdavač:
- Institute of Electrical and Electronics Engineers Inc.
Finansiranje / projekti:
- Održivost i unapređenje mašinskih sistema u energetici i transportu primenom forenzičkog inženjerstva, eko i robust dizajna (RS-MESTD-Technological Development (TD or TR)-35006)
- Inteligentni sistemi upravljanja klimatizacije u cilju postizanja energetski efikasnih režima u složenim uslovima eksploatacije (RS-MESTD-Technological Development (TD or TR)-33047)
Kolekcije
Institucija/grupa
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 . .