dc.creator | Dubonjac, Aleksandar | |
dc.creator | Lazarević, Mihailo | |
dc.date.accessioned | 2023-01-29T20:16:04Z | |
dc.date.available | 2023-01-29T20:16:04Z | |
dc.date.issued | 2021 | |
dc.identifier.isbn | 978-86-909973-8-1 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/4094 | |
dc.description.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. | sr |
dc.language.iso | en | sr |
dc.publisher | Beograd : Srpsko društvo za mehaniku | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/inst-2020/200105/RS// | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/inst-2020/200066/RS// | sr |
dc.rights | openAccess | sr |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
dc.source | 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021. | sr |
dc.subject | robot control | sr |
dc.subject | ILC | sr |
dc.subject | bounded error | sr |
dc.subject | state space | sr |
dc.subject | constrained output | sr |
dc.title | Robust constrained state space ILC for 3DOF robot manipulator | sr |
dc.type | conferenceObject | sr |
dc.rights.license | BY-NC-ND | sr |
dc.citation.epage | 333 | |
dc.citation.rank | M33 | |
dc.citation.spage | 326 | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/9569/bitstream_9569.pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_4094 | |
dc.type.version | publishedVersion | sr |