dc.creator | Lazarević, Mihailo | |
dc.date.accessioned | 2023-03-08T08:51:38Z | |
dc.date.available | 2023-03-08T08:51:38Z | |
dc.date.issued | 2005 | |
dc.identifier.isbn | 86- 85211-52-2 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/5487 | |
dc.description.abstract | In this paper it is considered problem of control robotic systems using suitable iterative
learning control. Recently, there have been extensive research activities in the topic of learning
control for controlling dynamics non-linear systems in an iterative manner. The learning control
concept differs from conventional control methodologies in that the control input can be
appropriately adjusted to improve its future performance by learning from the past
experimental information as the operation is repeated. Iterative learning control (ILC) requires
less a priori knowledge about the controlled system in the controller design phase and also less
computational effort than many other kinds of control. Dynamic model of robotic manipulator
with uncertainties can be presented in the form of state space and output equations as a class of
time-varying, non -linear system. Motivated by human learning, the basic idea of
iterative learning control is to use information from previous executions of the task in order to
improve performance from trial to trial in the sense that the tracking error ei (t) is sequentially
reduced. The learning control scheme comprises two types of control laws: feedback law and
feed-forward control law. It is proposed high-order feedforward ILC using local negative
feedback on control with great amplifying. Sufficient conditions for the convergence of a new
type ILC algorithm for a class of time-varying, non-linear system are obtained. Finally, results
are applied to a suitable robotic manipulator through simulation, which demonstrates the
effectiveness of the method. | sr |
dc.language.iso | en | sr |
dc.publisher | Jugoslovensko drustvo za Mehaniku | sr |
dc.publisher | Novi Sad: Fakultet tehničkih nauka | sr |
dc.rights | closedAccess | sr |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
dc.source | Book of abstracts 25th Yugoslav Congress on Theoretical and Applied Mechanics, Novi Sad, Serbia, June 1-3,2005, 1-12. | sr |
dc.subject | robotic manipulators | sr |
dc.subject | iterative learning control | sr |
dc.subject | natural | sr |
dc.subject | high-order | sr |
dc.title | High-order natural iterative learning control of robotic manipulators: new results | sr |
dc.type | conferenceObject | sr |
dc.rights.license | BY | sr |
dc.citation.epage | 36 | |
dc.citation.spage | 36 | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_5487 | |
dc.type.version | publishedVersion | sr |