Details

Title

A New Fuzzy Iterative Learning Control Algorithm for Single Joint Manipulator

Journal title

Archives of Control Sciences

Yearbook

2016

Numer

No 3

Publication authors

Divisions of PAS

Nauki Techniczne

Abstract

<jats:title>Abstract</jats:title> <jats:p>This paper present a new fuzzy iterative learning control design to solve the trajectory tracking problem and performing repetitive tasks for rigid robot manipulators. Several times’ iterations are needed to make the system tracking error converge, especially in the first iteration without experience. In order to solve that problem, fuzzy control and iterative learning control are combined, where fuzzy control is used to tracking trajectory at the first learning period, and the output of fuzzy control is recorded as the initial control inputs of ILC. The new algorithm also adopts gain self-tuning by fuzzy control, in order to improve the convergence rate. Simulations illustrate the effectiveness and convergence of the new algorithm and advantages compared to traditional method.</jats:p>

Publisher

Committee of Automatic Control and Robotics PAS

Date

2016

Identifier

ISSN 1230-2384

References

Tang (2012), Adaptive iterative learning control for SCARA robot manipulators of Advancements in Computing Technology, Int J, 50. ; Saab (2003), Stochastic type type iterative learning control algorithms of Control, Int J, 139. ; Cao (1996), Fuzzy logic based controller for induction motor drives of the Canadian Conf on Electrical and Computer Engineering, Proc, 2, 631. ; Boulkroune (2014), Indirect adaptive fuzzy control scheme based on observer for nonlinear systems : A novel SPR - filter approach, Neurocomputing, 135. ; Boukarif (2011), - type iterative learning control without resetting condition for robot manipulators, Robotica, 29, 975, doi.org/10.1017/S0263574711000191 ; Fang (2002), Convergence analysis of iterative learning control with uncertain initial conditions of the th World Congress on Intelligent Control and Automation Shanghai China, Proc, 960. ; Wangand (2006), Fuzzy adaptive iterative learning control algorithm of the th World Congress on Intelligent Control and Automation Dalian China, Proc, 3719. ; Tian (2011), ILC algorithm with fuzzy factor based on vector plots analysis on System Engineering Design and Manufacturing Informatization, Int Conf Science, 148. ; Yeon (2009), Model - Based iterative learning control for industrial robot manipulator of the IEEE Int on Automation and Logistics Shenyang China, Proc Conf, 24. ; Jiaand (2010), Adaptive iterative learning control for robot manipulators on Intelligent Computing and Intelligent Systems Xiamen China, IEEE Int Conf, 139.

DOI

10.1515/acsc-2016-0017

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