Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type
Apstrakt
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.
Ključne reči:
tracking control / robot / iterative learning control / fractional-order / convergenceIzvor:
Filomat, 2021, 35, 1, 1-10Izdavač:
- Univerzitet u Nišu - Prirodno-matematički fakultet - Departmant za matematiku i informatiku, Niš
Finansiranje / projekti:
- Ministarstvo nauke, tehnološkog razvoja i inovacija Republike Srbije, institucionalno finansiranje - 200105 (Univerzitet u Beogradu, Mašinski fakultet) (RS-MESTD-inst-2020-200105)
- SerbianItalian bilateral project ADFOCMEDER
DOI: 10.2298/FIL2101001C
ISSN: 0354-5180
WoS: 000706484400001
Scopus: 2-s2.0-85120695829
Kolekcije
Institucija/grupa
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 . .