Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type
Апстракт
In this paper, a new open-loop (PDDa)-D-2 type a fractional order iterative learning control (ILC) is studied for joint space trajectory tracking control of a linearized uncertain robotic arm. The robust convergent analysis of the tracking errors has been done in time domain where it is theoretically proven that the boundednesses of the tracking error are guaranteed in the presence of model uncertainty. The convergence of the proposed open-loop ILC law is proven mathematically using Gronwall integral inequality for a linearized robotic system and sufficient conditions for convergence and robustness are obtained.
Кључне речи:
tracking control / robot / iterative learning control / fractional-order / convergenceИзвор:
Filomat, 2021, 35, 1, 1-10Издавач:
- Univerzitet u Nišu - Prirodno-matematički fakultet - Departmant za matematiku i informatiku, Niš
Финансирање / пројекти:
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200105 (Универзитет у Београду, Машински факултет) (RS-MESTD-inst-2020-200105)
- SerbianItalian bilateral project ADFOCMEDER
DOI: 10.2298/FIL2101001C
ISSN: 0354-5180
WoS: 000706484400001
Scopus: 2-s2.0-85120695829
Колекције
Институција/група
Mašinski fakultetTY - JOUR AU - Cvetković, Boško AU - Lazarević, Mihailo PY - 2021 UR - https://machinery.mas.bg.ac.rs/handle/123456789/3569 AB - In this paper, a new open-loop (PDDa)-D-2 type a fractional order iterative learning control (ILC) is studied for joint space trajectory tracking control of a linearized uncertain robotic arm. The robust convergent analysis of the tracking errors has been done in time domain where it is theoretically proven that the boundednesses of the tracking error are guaranteed in the presence of model uncertainty. The convergence of the proposed open-loop ILC law is proven mathematically using Gronwall integral inequality for a linearized robotic system and sufficient conditions for convergence and robustness are obtained. PB - Univerzitet u Nišu - Prirodno-matematički fakultet - Departmant za matematiku i informatiku, Niš T2 - Filomat T1 - Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type EP - 10 IS - 1 SP - 1 VL - 35 DO - 10.2298/FIL2101001C ER -
@article{ author = "Cvetković, Boško and Lazarević, Mihailo", year = "2021", abstract = "In this paper, a new open-loop (PDDa)-D-2 type a fractional order iterative learning control (ILC) is studied for joint space trajectory tracking control of a linearized uncertain robotic arm. The robust convergent analysis of the tracking errors has been done in time domain where it is theoretically proven that the boundednesses of the tracking error are guaranteed in the presence of model uncertainty. The convergence of the proposed open-loop ILC law is proven mathematically using Gronwall integral inequality for a linearized robotic system and sufficient conditions for convergence and robustness are obtained.", publisher = "Univerzitet u Nišu - Prirodno-matematički fakultet - Departmant za matematiku i informatiku, Niš", journal = "Filomat", title = "Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type", pages = "10-1", number = "1", volume = "35", doi = "10.2298/FIL2101001C" }
Cvetković, B.,& Lazarević, M.. (2021). Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type. in Filomat Univerzitet u Nišu - Prirodno-matematički fakultet - Departmant za matematiku i informatiku, Niš., 35(1), 1-10. https://doi.org/10.2298/FIL2101001C
Cvetković B, Lazarević M. Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type. in Filomat. 2021;35(1):1-10. doi:10.2298/FIL2101001C .
Cvetković, Boško, Lazarević, Mihailo, "Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type" in Filomat, 35, no. 1 (2021):1-10, https://doi.org/10.2298/FIL2101001C . .