A New Fuzzy Iterative Learning Control Algorithm for Single Joint Manipulator
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 experienc...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Polish Academy of Sciences
2016-09-01
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| Series: | Archives of Control Sciences |
| Subjects: | |
| Online Access: | http://www.degruyter.com/view/j/acsc.2016.26.issue-3/acsc-2016-0017/acsc-2016-0017.xml?format=INT |
| _version_ | 1819230740863254528 |
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| author | Wang Meng Bian Guangrong Li Hongsheng |
| author_facet | Wang Meng Bian Guangrong Li Hongsheng |
| author_sort | Wang Meng |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-23T11:33:53Z |
| format | Article |
| id | doaj.art-d96d7ae6d1134ebda50bbf02e813e421 |
| institution | Directory Open Access Journal |
| issn | 2300-2611 |
| language | English |
| last_indexed | 2024-12-23T11:33:53Z |
| publishDate | 2016-09-01 |
| publisher | Polish Academy of Sciences |
| record_format | Article |
| series | Archives of Control Sciences |
| spelling | doaj.art-d96d7ae6d1134ebda50bbf02e813e4212022-12-21T17:48:44ZengPolish Academy of SciencesArchives of Control Sciences2300-26112016-09-0126329731010.1515/acsc-2016-0017acsc-2016-0017A New Fuzzy Iterative Learning Control Algorithm for Single Joint ManipulatorWang Meng0Bian Guangrong1Li Hongsheng2School of Automation, Wuhan University of Technology, 122 Luoshi Road, Wuhan, Hubei, P.R. China Postcode: 430070School of Automation, Wuhan University of Technology, 122 Luoshi Road, Wuhan, Hubei, P.R. China Postcode: 430070School of Automation, Wuhan University of Technology, 122 Luoshi Road, Wuhan, Hubei, P.R. China Postcode: 430070This 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.http://www.degruyter.com/view/j/acsc.2016.26.issue-3/acsc-2016-0017/acsc-2016-0017.xml?format=INTiterative learning controlfuzzy controlfuzzy gain adjustmentsingle joint manipulator |
| spellingShingle | Wang Meng Bian Guangrong Li Hongsheng A New Fuzzy Iterative Learning Control Algorithm for Single Joint Manipulator Archives of Control Sciences iterative learning control fuzzy control fuzzy gain adjustment single joint manipulator |
| title | A New Fuzzy Iterative Learning Control Algorithm for Single Joint Manipulator |
| title_full | A New Fuzzy Iterative Learning Control Algorithm for Single Joint Manipulator |
| title_fullStr | A New Fuzzy Iterative Learning Control Algorithm for Single Joint Manipulator |
| title_full_unstemmed | A New Fuzzy Iterative Learning Control Algorithm for Single Joint Manipulator |
| title_short | A New Fuzzy Iterative Learning Control Algorithm for Single Joint Manipulator |
| title_sort | new fuzzy iterative learning control algorithm for single joint manipulator |
| topic | iterative learning control fuzzy control fuzzy gain adjustment single joint manipulator |
| url | http://www.degruyter.com/view/j/acsc.2016.26.issue-3/acsc-2016-0017/acsc-2016-0017.xml?format=INT |
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