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Iterative Learning Control with Desired Gravity Compensation under Saturation for a Robotic Machining Manipulator
Joint Authors
Pedro, Jimoh O.
Ernesto, Horacio
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-12-31
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
This paper proposes the design of a hybrid iterative learning controller for a four-degree-of-freedom (DOF) robotic machining manipulator (RMM).
It combines a nonlinear saturated (sat) proportional + integral + derivative (PID) control with desired gravity compensation (dgc) and proportional + derivative- (PD-) based iterative learning control (ILC).
The sat(PID) control is the primary component that maintains the local stability of the entire RMM system and the PDILC component provides robustness to parameter variations and uncertainties in the robot dynamics.
Global asymptotic stability of the proposed control algorithm is conducted using Lyapunov direct method and LaSalles invariance principle.
Simulation results show the effectiveness and robustness of the proposed hybrid iterative learning controller.
It is also shown that the proposed controller achieved better tracking performances compared to conventional sat(PDdgc) feedback controller.
American Psychological Association (APA)
Ernesto, Horacio& Pedro, Jimoh O.. 2015. Iterative Learning Control with Desired Gravity Compensation under Saturation for a Robotic Machining Manipulator. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-13.
https://search.emarefa.net/detail/BIM-1073168
Modern Language Association (MLA)
Ernesto, Horacio& Pedro, Jimoh O.. Iterative Learning Control with Desired Gravity Compensation under Saturation for a Robotic Machining Manipulator. Mathematical Problems in Engineering No. 2015 (2015), pp.1-13.
https://search.emarefa.net/detail/BIM-1073168
American Medical Association (AMA)
Ernesto, Horacio& Pedro, Jimoh O.. Iterative Learning Control with Desired Gravity Compensation under Saturation for a Robotic Machining Manipulator. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-13.
https://search.emarefa.net/detail/BIM-1073168
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1073168