Further results on advanced robust iterative learning control and modeling of robotic systems
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2021
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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, simulati...ons on the given robotic arm system confirm the effectiveness of the robust AILC method.
Ključne reči:
viscous friction model / robust control / robot manipulator / rigid multibody dynamics / iterative learning control / Calculus of general orderIzvor:
Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie, 2021, 235, 20, 4719-4734Izdavač:
- Sage Publications Ltd, London
Finansiranje / projekti:
- Serbian-Italian bilateral project ADFOCMEDER
- Ministarstvo nauke, tehnološkog razvoja i inovacija Republike Srbije, institucionalno finansiranje - 200105 (Univerzitet u Beogradu, Mašinski fakultet) (RS-MESTD-inst-2020-200105)
- Održivost i unapređenje mašinskih sistema u energetici i transportu primenom forenzičkog inženjerstva, eko i robust dizajna (RS-MESTD-Technological Development (TD or TR)-35006)
- Razvoj novih metoda i tehnika za ranu dijagnostiku kancera grlića materice, debelog creva, usne duplje i melanoma na bazi digitalne slike i ekscitaciono-emisionih spektara u vidljivom i infracrvenom domenu (RS-MESTD-Integrated and Interdisciplinary Research (IIR or III)-41006)
- Inteligentni sistemi upravljanja klimatizacije u cilju postizanja energetski efikasnih režima u složenim uslovima eksploatacije (RS-MESTD-Technological Development (TD or TR)-33047)
DOI: 10.1177/0954406220965996
ISSN: 0954-4062
WoS: 000682952400001
Scopus: 2-s2.0-85094894927
Kolekcije
Institucija/grupa
Mašinski fakultetTY - 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 . .