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Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm
dc.creator | Lazarević, Mihailo | |
dc.creator | Mandić, Petar | |
dc.creator | Cvetković, Boško | |
dc.creator | Bučanović, Ljubiša | |
dc.creator | Dragović, Mladen | |
dc.date.accessioned | 2022-09-19T18:37:33Z | |
dc.date.available | 2022-09-19T18:37:33Z | |
dc.date.issued | 2018 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/2971 | |
dc.description.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. | en |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35006/RS// | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/33047/RS// | |
dc.rights | restrictedAccess | |
dc.source | 2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI | |
dc.subject | trajectory tracking | en |
dc.subject | robot | en |
dc.subject | PIDD2 | en |
dc.subject | iterative learning control | en |
dc.subject | computed torque | en |
dc.subject | algorithms PID | en |
dc.title | Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm | en |
dc.type | conferenceObject | |
dc.rights.license | ARR | |
dc.citation.rank | M33 | |
dc.identifier.doi | 10.1109/INISTA.2018.8466308 | |
dc.identifier.scopus | 2-s2.0-85055533926 | |
dc.identifier.wos | 000455620700042 | |
dc.type.version | publishedVersion |