Further results on advanced robust iterative learning control and modeling of robotic systems
Abstract
Recently, calculus of general order alpha is an element of R has attracted attention in scientific literature, where fractional operators are often used for control issues and the modeling of the dynamics of complex systems. In this work, some attention will be devoted to the problem of viscous friction in robotic joints. The calculus of general order and the calculus of variations are utilized for the modeling of viscous friction which is extended to the fractional derivative of the angular displacement. In addition, to solve the output tracking problem of a robotic manipulator with three DOFs with revolute joints in the presence of model uncertainties, robust advanced iterative learning control (AILC) is introduced. First, a feedback linearization procedure of a nonlinear robotic system is applied. Then, the proposed intelligent feedforward-feedback AILC algorithm is introduced. The convergence of the proposed AILC scheme is established in the time domain in detail. Finally, simulati...ons on the given robotic arm system confirm the effectiveness of the robust AILC method.
Keywords:
viscous friction model / robust control / robot manipulator / rigid multibody dynamics / iterative learning control / Calculus of general orderSource:
Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie, 2021, 235, 20, 4719-4734Publisher:
- Sage Publications Ltd, London
Funding / projects:
- Serbian-Italian bilateral project ADFOCMEDER
- Ministry of Science, Technological Development and Innovation of the Republic of Serbia, institutional funding - 200105 (University of Belgrade, Faculty of Mechanical Engineering) (RS-MESTD-inst-2020-200105)
- Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design (RS-MESTD-Technological Development (TD or TR)-35006)
- Development of methods and techniques for early diagnostic of cervical, colon, oral cavity cancer and melanoma based on a digital image and excitation-emission spectrum in visible and infrared domain (RS-MESTD-Integrated and Interdisciplinary Research (IIR or III)-41006)
- Intelligent Control Systems of the Air-conditioning for the Purpose of Achieving Energy Efficient Exploitation Regimes in the Complex Operating Conditions (RS-MESTD-Technological Development (TD or TR)-33047)
DOI: 10.1177/0954406220965996
ISSN: 0954-4062
WoS: 000682952400001
Scopus: 2-s2.0-85094894927
Collections
Institution/Community
Mašinski fakultetTY - JOUR AU - Lazarević, Mihailo AU - Mandić, Petar AU - Ostojić, Srdan PY - 2021 UR - https://machinery.mas.bg.ac.rs/handle/123456789/3584 AB - Recently, calculus of general order alpha is an element of R has attracted attention in scientific literature, where fractional operators are often used for control issues and the modeling of the dynamics of complex systems. In this work, some attention will be devoted to the problem of viscous friction in robotic joints. The calculus of general order and the calculus of variations are utilized for the modeling of viscous friction which is extended to the fractional derivative of the angular displacement. In addition, to solve the output tracking problem of a robotic manipulator with three DOFs with revolute joints in the presence of model uncertainties, robust advanced iterative learning control (AILC) is introduced. First, a feedback linearization procedure of a nonlinear robotic system is applied. Then, the proposed intelligent feedforward-feedback AILC algorithm is introduced. The convergence of the proposed AILC scheme is established in the time domain in detail. Finally, simulations on the given robotic arm system confirm the effectiveness of the robust AILC method. PB - Sage Publications Ltd, London T2 - Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie T1 - Further results on advanced robust iterative learning control and modeling of robotic systems EP - 4734 IS - 20 SP - 4719 VL - 235 DO - 10.1177/0954406220965996 ER -
@article{ author = "Lazarević, Mihailo and Mandić, Petar and Ostojić, Srdan", year = "2021", abstract = "Recently, calculus of general order alpha is an element of R has attracted attention in scientific literature, where fractional operators are often used for control issues and the modeling of the dynamics of complex systems. In this work, some attention will be devoted to the problem of viscous friction in robotic joints. The calculus of general order and the calculus of variations are utilized for the modeling of viscous friction which is extended to the fractional derivative of the angular displacement. In addition, to solve the output tracking problem of a robotic manipulator with three DOFs with revolute joints in the presence of model uncertainties, robust advanced iterative learning control (AILC) is introduced. First, a feedback linearization procedure of a nonlinear robotic system is applied. Then, the proposed intelligent feedforward-feedback AILC algorithm is introduced. The convergence of the proposed AILC scheme is established in the time domain in detail. Finally, simulations on the given robotic arm system confirm the effectiveness of the robust AILC method.", publisher = "Sage Publications Ltd, London", journal = "Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie", title = "Further results on advanced robust iterative learning control and modeling of robotic systems", pages = "4734-4719", number = "20", volume = "235", doi = "10.1177/0954406220965996" }
Lazarević, M., Mandić, P.,& Ostojić, S.. (2021). Further results on advanced robust iterative learning control and modeling of robotic systems. in Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie Sage Publications Ltd, London., 235(20), 4719-4734. https://doi.org/10.1177/0954406220965996
Lazarević M, Mandić P, Ostojić S. Further results on advanced robust iterative learning control and modeling of robotic systems. in Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie. 2021;235(20):4719-4734. doi:10.1177/0954406220965996 .
Lazarević, Mihailo, Mandić, Petar, Ostojić, Srdan, "Further results on advanced robust iterative learning control and modeling of robotic systems" in Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie, 235, no. 20 (2021):4719-4734, https://doi.org/10.1177/0954406220965996 . .