Assessment of fractional order impact on performance of fractional ILC controller for upper limb exoskeleton
Апстракт
In this research paper, the application of Iterative Learning Control (ILC), an intelligent control
method, is suggested in the form of a fractional‐order PD‐type controller. The main task of the ILC controller is to reject process model uncertainties, which are often present in complex systems such as various multibody systems, and to sequentially reduce a trajectory tracking error. As a control plant, an exoskeleton support arm with three degrees of freedom is used herein. The control scheme consists of feedback linearization compensating for the known part of the dynamics model and the feedforward ILC controller of the PDα‐type. The feedback part of the control system is the classical PD controller. The feedforward control signal is filtered with a lowpass filter to avoid divergent behavior as iterations progress. Finally, simulation results are presented to demonstrate the proposed control system performance applied to the chosen control plant, as well as the achieved error co...nvergence towards the steady‐state value for various values of the fractional order.
Кључне речи:
Iterative learning control / feedback linearization / fractional derivative / trajectory tracking / exoskeletonИзвор:
16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2 June, 2023, 333-337Издавач:
- Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH
Финансирање / пројекти:
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200105 (Универзитет у Београду, Машински факултет) (RS-MESTD-inst-2020-200105)
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200066 (Лола институт, Београд) (RS-MESTD-inst-2020-200066)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Živković, Nikola AU - Lazarević, Mihailo AU - Vidaković, Jelena PY - 2023 UR - https://machinery.mas.bg.ac.rs/handle/123456789/6973 AB - In this research paper, the application of Iterative Learning Control (ILC), an intelligent control method, is suggested in the form of a fractional‐order PD‐type controller. The main task of the ILC controller is to reject process model uncertainties, which are often present in complex systems such as various multibody systems, and to sequentially reduce a trajectory tracking error. As a control plant, an exoskeleton support arm with three degrees of freedom is used herein. The control scheme consists of feedback linearization compensating for the known part of the dynamics model and the feedforward ILC controller of the PDα‐type. The feedback part of the control system is the classical PD controller. The feedforward control signal is filtered with a lowpass filter to avoid divergent behavior as iterations progress. Finally, simulation results are presented to demonstrate the proposed control system performance applied to the chosen control plant, as well as the achieved error convergence towards the steady‐state value for various values of the fractional order. PB - Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH C3 - 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2 June T1 - Assessment of fractional order impact on performance of fractional ILC controller for upper limb exoskeleton EP - 337 SP - 333 UR - https://hdl.handle.net/21.15107/rcub_machinery_6973 ER -
@conference{ author = "Živković, Nikola and Lazarević, Mihailo and Vidaković, Jelena", year = "2023", abstract = "In this research paper, the application of Iterative Learning Control (ILC), an intelligent control method, is suggested in the form of a fractional‐order PD‐type controller. The main task of the ILC controller is to reject process model uncertainties, which are often present in complex systems such as various multibody systems, and to sequentially reduce a trajectory tracking error. As a control plant, an exoskeleton support arm with three degrees of freedom is used herein. The control scheme consists of feedback linearization compensating for the known part of the dynamics model and the feedforward ILC controller of the PDα‐type. The feedback part of the control system is the classical PD controller. The feedforward control signal is filtered with a lowpass filter to avoid divergent behavior as iterations progress. Finally, simulation results are presented to demonstrate the proposed control system performance applied to the chosen control plant, as well as the achieved error convergence towards the steady‐state value for various values of the fractional order.", publisher = "Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH", journal = "16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2 June", title = "Assessment of fractional order impact on performance of fractional ILC controller for upper limb exoskeleton", pages = "337-333", url = "https://hdl.handle.net/21.15107/rcub_machinery_6973" }
Živković, N., Lazarević, M.,& Vidaković, J.. (2023). Assessment of fractional order impact on performance of fractional ILC controller for upper limb exoskeleton. in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2 June Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH., 333-337. https://hdl.handle.net/21.15107/rcub_machinery_6973
Živković N, Lazarević M, Vidaković J. Assessment of fractional order impact on performance of fractional ILC controller for upper limb exoskeleton. in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2 June. 2023;:333-337. https://hdl.handle.net/21.15107/rcub_machinery_6973 .
Živković, Nikola, Lazarević, Mihailo, Vidaković, Jelena, "Assessment of fractional order impact on performance of fractional ILC controller for upper limb exoskeleton" in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2 June (2023):333-337, https://hdl.handle.net/21.15107/rcub_machinery_6973 .