Robust constrained state space ILC for 3DOF robot manipulator
Apstrakt
This paper focuses on the effect of the control system parameters on the convergence speed of
two constrained state space Iterative Learning Control (ILC) algorithms: Bounder Error
Algorithm (BEAILC) and Constrained Output Algorithm (COILC), applied to the nonlinear
model of a 3DOF robotic manipulator in presence of recurring disturbance. Analysis and
comparison of previously mentioned algorithms were conducted through simulations. The
obtained results have shown that COILC algorithm converges faster than BEAILC algorithm, as
the BEAILC restricts the output trajectory more rigorously. Simulations have shown that change
in feedback parameters’ values has higher impact on the iteration interruptions (increase will
lower the number of interruptions), while the learning parameters have higher impact on the
whole ILC procedure duration (decrease will require more iterations to achieve the desired
tracking accuracy). Additionally it’s been shown that both algorithms successfully re...jected the
recurring disturbance.
Ključne reči:
robot control / ILC / bounded error / state space / constrained outputIzvor:
8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021., 2021, 326-333Izdavač:
- 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)
- Ministarstvo nauke, tehnološkog razvoja i inovacija Republike Srbije, institucionalno finansiranje - 200066 (Lola institut, Beograd) (RS-MESTD-inst-2020-200066)
Kolekcije
Institucija/grupa
Mašinski fakultetTY - CONF AU - Dubonjac, Aleksandar AU - Lazarević, Mihailo PY - 2021 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4094 AB - This paper focuses on the effect of the control system parameters on the convergence speed of two constrained state space Iterative Learning Control (ILC) algorithms: Bounder Error Algorithm (BEAILC) and Constrained Output Algorithm (COILC), applied to the nonlinear model of a 3DOF robotic manipulator in presence of recurring disturbance. Analysis and comparison of previously mentioned algorithms were conducted through simulations. The obtained results have shown that COILC algorithm converges faster than BEAILC algorithm, as the BEAILC restricts the output trajectory more rigorously. Simulations have shown that change in feedback parameters’ values has higher impact on the iteration interruptions (increase will lower the number of interruptions), while the learning parameters have higher impact on the whole ILC procedure duration (decrease will require more iterations to achieve the desired tracking accuracy). Additionally it’s been shown that both algorithms successfully rejected the recurring disturbance. PB - Beograd : Srpsko društvo za mehaniku C3 - 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021. T1 - Robust constrained state space ILC for 3DOF robot manipulator EP - 333 SP - 326 UR - https://hdl.handle.net/21.15107/rcub_machinery_4094 ER -
@conference{ author = "Dubonjac, Aleksandar and Lazarević, Mihailo", year = "2021", abstract = "This paper focuses on the effect of the control system parameters on the convergence speed of two constrained state space Iterative Learning Control (ILC) algorithms: Bounder Error Algorithm (BEAILC) and Constrained Output Algorithm (COILC), applied to the nonlinear model of a 3DOF robotic manipulator in presence of recurring disturbance. Analysis and comparison of previously mentioned algorithms were conducted through simulations. The obtained results have shown that COILC algorithm converges faster than BEAILC algorithm, as the BEAILC restricts the output trajectory more rigorously. Simulations have shown that change in feedback parameters’ values has higher impact on the iteration interruptions (increase will lower the number of interruptions), while the learning parameters have higher impact on the whole ILC procedure duration (decrease will require more iterations to achieve the desired tracking accuracy). Additionally it’s been shown that both algorithms successfully rejected the recurring disturbance.", publisher = "Beograd : Srpsko društvo za mehaniku", journal = "8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.", title = "Robust constrained state space ILC for 3DOF robot manipulator", pages = "333-326", url = "https://hdl.handle.net/21.15107/rcub_machinery_4094" }
Dubonjac, A.,& Lazarević, M.. (2021). Robust constrained state space ILC for 3DOF robot manipulator. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021. Beograd : Srpsko društvo za mehaniku., 326-333. https://hdl.handle.net/21.15107/rcub_machinery_4094
Dubonjac A, Lazarević M. Robust constrained state space ILC for 3DOF robot manipulator. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.. 2021;:326-333. https://hdl.handle.net/21.15107/rcub_machinery_4094 .
Dubonjac, Aleksandar, Lazarević, Mihailo, "Robust constrained state space ILC for 3DOF robot manipulator" in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021. (2021):326-333, https://hdl.handle.net/21.15107/rcub_machinery_4094 .