Browse > Article

A P-type Iterative Learning Controller for Uncertain Robotic Systems  

최준영 (한국전자통신연구원)
서원기 (한국전자통신연구원)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.41, no.3, 2004 , pp. 17-24 More about this Journal
Abstract
We present a P-type iterative learning control(ILC) scheme for uncertain robotic systems that perform the same tasks repetitively. The proposed ILC scheme comprises a linear feedback controller consisting of position error, and a feedforward and feedback teaming controller updated by current velocity error. As the learning iteration proceeds, the joint position and velocity mrs converge uniformly to zero. By adopting the learning gain dependent on the iteration number, we present joint position and velocity error bounds which converge at the arbitrarily tuned rate, and the joint position and velocity errors converge to zero in the iteration domain within the adopted error bounds. In contrast to other existing P-type ILC schemes, the proposed ILC scheme enables analysis and tuning of the convergence rate in the iteration domain by designing properly the learning gain.
Keywords
ILC; Robot system; Convergence rate;
Citations & Related Records
연도 인용수 순위
  • Reference
1 S. Arimoto, 'Learning control theory for robotic motion', Int. J. Adaptive Control Signal Processing, vol.4, pp. 543-564, 1990   DOI
2 J. J. Craig, 'Adaptive control of robot manipulators through repeated trials', Proc. Am. Control Conf., pp. 1566-1573, San Diego, CA, 1984
3 S. Arimoto, S. Kawamura and F. Miyasaki, 'Bettering operation of robots by learning', J. Robot. Syst., vol. 1, no. 2, pp. 123-140, 1984   DOI
4 P. Bondi, C. Casaline, and L. Gambardella, 'On the iterative learning control theory for robotic manipulators', IEEE Trans. Robotics and Automation, vol. 4, pp. 14-22, 1988   DOI   ScienceOn
5 T. Y. Kuc, J. S. Lee, and K. Nam, 'An iterative learning control theory for a class of nonlinear dynamical systems', Automatica, vol. 28, no. 6, pp. 1215-1221, 1992   DOI   ScienceOn
6 T. Y. Kuc, J. S. Lee, and B. H. Park, 'Tuning convergence rate of a robust learning controller for robot manipulators, IEEE Conf. on Dec. and Contr., pp. 1714-1719, New Orleans, LA, 1995   DOI
7 C. J. Chien, and J. S. Liu, 'A P-type iterative learning controller for robust output tracking of nonlinear time-varying systems', Int. J. of Control, vol. 64, no. 2, pp. 319-334, 1996   DOI   ScienceOn
8 B. H. Park, T. Y. Kuc, and J. S. Lee, 'Adaptive learning control of uncertain robotic systems', Int. J. of Control, vol. 65, no. 5, pp. 725-744, 1996   DOI   ScienceOn
9 C. H. Ham, Z. Qu, and R. W. Johnson, 'A nonlinear iterative learning control for robot manipulators in the presence of actuator dynamics', Int. J. of Robotics and Automation', vol. 15, no. 3, pp. 119-130, 2000
10 Z. Qu, J. Dorsey, D. M. Dawson, and R. W. Johnson, 'Linear learning control of robot motion', J. Robot. Syst., vol. 10, no. 1, pp.123-140, 1993   DOI
11 C. Ham, Z. Qu, and T. J. Kaloust, 'Nonlinear learning control for a class of nonlinear systems', Automatica, vol. 37, pp. 419-428, 2001   DOI   ScienceOn
12 T. Y. Kuc, K. Nam, and J. S. Lee, 'An iterative learning control of robot manipulators', IEEE Trans. on Robotics and Automation, vol. 7, no. 6, pp. 835-842, 1991   DOI   ScienceOn
13 H. L. Royden, Real analysis, Macmillan, New York, 1988, 3rd edn.
14 D. M. Shin, J. Y. Choi, and J. S. Lee, 'A P-type iterative learning controller for uncertain robotic systems with exponentially decaying error bounds', J. of Robotic Systems, vol. 20, no. 2, pp. 79-91, 2003   DOI
15 F. L. Lewis, C. T. Abdallah, and D. M. Dawson, Control of robot manipulators, Macmillan, New York, 1993