Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system
Apstrakt
In this paper, an advanced iterative learning control algorithm (ILC) is introduced in order to
solve the output tracking problem of a robotic manipulator with three degrees of freedom.
Iterative fractional order PDμ type control is located in feedforward path, and combined together
with classical feedback PD controller. Fractional derivative μ provides additional flexibility in
adjusting the output performances. Parameters of the feedback controller are derived using a
modern approach which takes into consideration both performance and robustness characteristics
of the closed loop system. This is achieved by a suitable selection of only one adjustable
parameter. Mathematical model of robotic manipulator is derived together with actuator
dynamics, and it is shown that in the presence of high gear ratio the nonlinear effects can be
neglected, and only linear model can be observed. The efficiency of the proposed control
algorithm is demonstrated by simulations, in which robotic... arm needs to follow desired trajectory
given in joint space. Excellent tracking performances are achieved only after few iterations.
Ključne reči:
robot control / iterative learning control / fractional calculus / PD controlIzvor:
8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021., 2021, 344-353Izdavač:
- Beograd : Srpsko društvo za mehaniku
Finansiranje / projekti:
- Ministarstvo nauke, tehnološkog razvoja i inovacija Republike Srbije, institucionalno finansiranje - 200105 (Univerzitet u Beogradu, Mašinski fakultet) (RS-MESTD-inst-2020-200105)
- Serbia-Italian bilateral project ADFOCMEDER
- Povećanje energetske efikasnosti HE i TE EPS-a razvojem tehnologije i uređaja energetske elektronike za regulaciju i automatizaciju (RS-MESTD-Technological Development (TD or TR)-33020)
Kolekcije
Institucija/grupa
Mašinski fakultetTY - CONF AU - Cvetković, Boško AU - Lazarević, Mihailo AU - Mandić, Petar AU - Šekara, Tomislav AU - Lino, Paolo PY - 2021 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4092 AB - In this paper, an advanced iterative learning control algorithm (ILC) is introduced in order to solve the output tracking problem of a robotic manipulator with three degrees of freedom. Iterative fractional order PDμ type control is located in feedforward path, and combined together with classical feedback PD controller. Fractional derivative μ provides additional flexibility in adjusting the output performances. Parameters of the feedback controller are derived using a modern approach which takes into consideration both performance and robustness characteristics of the closed loop system. This is achieved by a suitable selection of only one adjustable parameter. Mathematical model of robotic manipulator is derived together with actuator dynamics, and it is shown that in the presence of high gear ratio the nonlinear effects can be neglected, and only linear model can be observed. The efficiency of the proposed control algorithm is demonstrated by simulations, in which robotic arm needs to follow desired trajectory given in joint space. Excellent tracking performances are achieved only after few iterations. PB - Beograd : Srpsko društvo za mehaniku C3 - 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021. T1 - Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system EP - 353 SP - 344 UR - https://hdl.handle.net/21.15107/rcub_machinery_4092 ER -
@conference{ author = "Cvetković, Boško and Lazarević, Mihailo and Mandić, Petar and Šekara, Tomislav and Lino, Paolo", year = "2021", abstract = "In this paper, an advanced iterative learning control algorithm (ILC) is introduced in order to solve the output tracking problem of a robotic manipulator with three degrees of freedom. Iterative fractional order PDμ type control is located in feedforward path, and combined together with classical feedback PD controller. Fractional derivative μ provides additional flexibility in adjusting the output performances. Parameters of the feedback controller are derived using a modern approach which takes into consideration both performance and robustness characteristics of the closed loop system. This is achieved by a suitable selection of only one adjustable parameter. Mathematical model of robotic manipulator is derived together with actuator dynamics, and it is shown that in the presence of high gear ratio the nonlinear effects can be neglected, and only linear model can be observed. The efficiency of the proposed control algorithm is demonstrated by simulations, in which robotic arm needs to follow desired trajectory given in joint space. Excellent tracking performances are achieved only after few iterations.", publisher = "Beograd : Srpsko društvo za mehaniku", journal = "8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.", title = "Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system", pages = "353-344", url = "https://hdl.handle.net/21.15107/rcub_machinery_4092" }
Cvetković, B., Lazarević, M., Mandić, P., Šekara, T.,& Lino, P.. (2021). Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021. Beograd : Srpsko društvo za mehaniku., 344-353. https://hdl.handle.net/21.15107/rcub_machinery_4092
Cvetković B, Lazarević M, Mandić P, Šekara T, Lino P. Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.. 2021;:344-353. https://hdl.handle.net/21.15107/rcub_machinery_4092 .
Cvetković, Boško, Lazarević, Mihailo, Mandić, Petar, Šekara, Tomislav, Lino, Paolo, "Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system" in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021. (2021):344-353, https://hdl.handle.net/21.15107/rcub_machinery_4092 .