Research on PD-type Iterative Learning Control Algorithm of Manipulator Based on Gain Switching | |
Ma, Zihan; Liang, Yanbing | |
2019-07 | |
会议名称 | 31st Chinese Control and Decision Conference, CCDC 2019 |
会议录名称 | Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019 |
页码 | 4202-4207 |
会议日期 | 2019-06-03 |
会议地点 | Nanchang, China |
出版者 | Institute of Electrical and Electronics Engineers Inc. |
产权排序 | 1 |
摘要 | Multi-joint serial manipulator is highly nonlinear and strongly coupled system with multiple inputs and multiple outputs. In addition, there are some problems such as parameter perturbation, external interference and uncertainty are exist. The trajectory tracking control of manipulator has certain difficulties. As the most important part of manipulator system, the design of controller is related to the accuracy and robustness of manipulator to perform tasks. For hydraulically driven manipulators, it is reciprocate in working process, and has the characteristics of long delay time. Aiming at characteristics and problems of multi-joint series manipulator, this paper proposes a PD-type iterative learning control algorithm based on gain switching, it has the robust term, and the linearized residual is considered to realize the control of the mechanical system with uncertain dynamics equation and non-repetitive interference. The first two joints of the six degrees of freedom manipulator XIOPM, which developed by the research group are simulated by MATLAB/SIMULINK using this method. Compared with the traditional iterative learning control, the algorithm proposed in this paper can converge the actual output trajectory of the system to the desired output trajectory at a relatively fast speed with good tracking performance and high tracking accuracy. © 2019 IEEE. |
关键词 | Manipulator, Gain Switching Iterative Learning Control PD-type Learning Rate MATLAB/SIMULINK |
作者部门 | 光电跟踪与测量技术研究室 |
DOI | 10.1109/CCDC.2019.8832932 |
收录类别 | EI ; CPCI |
ISBN号 | 9781728101057 |
语种 | 英语 |
WOS记录号 | WOS:000555859004080 |
EI入藏号 | 20194207534027 |
引用统计 | |
文献类型 | 会议论文 |
条目标识符 | http://ir.opt.ac.cn/handle/181661/31895 |
专题 | 光电跟踪与测量技术研究室 |
作者单位 | Xi'an Institute of Optics and Precision Mechanics, CAS, University of Chinese Academy of Sciences, Xi'an; 710119, China |
推荐引用方式 GB/T 7714 | Ma, Zihan,Liang, Yanbing. Research on PD-type Iterative Learning Control Algorithm of Manipulator Based on Gain Switching[C]:Institute of Electrical and Electronics Engineers Inc.,2019:4202-4207. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Research on PD-type (460KB) | 会议论文 | 限制开放 | CC BY-NC-SA | 请求全文 |
个性服务 |
推荐该条目 |
保存到收藏夹 |
查看访问统计 |
导出为Endnote文件 |
谷歌学术 |
谷歌学术中相似的文章 |
[Ma, Zihan]的文章 |
[Liang, Yanbing]的文章 |
百度学术 |
百度学术中相似的文章 |
[Ma, Zihan]的文章 |
[Liang, Yanbing]的文章 |
必应学术 |
必应学术中相似的文章 |
[Ma, Zihan]的文章 |
[Liang, Yanbing]的文章 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论