AILC for Rigid-Flexible Coupled Manipulator System in Three-Dimensional Space with Time-Varying Disturbances and Input Constraints

Abstract

In this paper, an adaptive iterative learning control (AILC) law is developed for two-link rigid-flexible coupled manipulator system in three-dimensional (3D) space with time-varying disturbances and input constraints. Based on the Hamilton’s principle, a dynamic model of a manipulator system is established. The conditional equation that is coupled by ordinary differential equations and partial differential equations is derived. In order to achieve high-precision tracking of the revolving angles and vibration suppression of the elastic part, the iterative learning control law based on the disturbance observer is considered in the process of the design controller. The composite Lyapunov energy function is proposed to prove that the angle errors and elastic deformation can eventually converge to zero with the increase of the number of iterations. Ultimately, the simulation results to rigid-flexible coupled manipulator system are given to prove the convergence of the control objectives under the adaptive iterative learning control law.

In-Depth Review of Advanced Control Strategies and Cutting-Edge Trends in Robot Manipulators: Analyzing the Latest Developments and Techniques

“…The advantages and limitations of rigid, flexible, and rigid-flexible manipulators [1], [5]- [7]. In general, A robotic manipulator is a device that is electronically operated and has a combination of mechanical, electrical, and electronic components.…”

“…[5]- [7] They combine both rigid and flexible elements in their structure. In practical applications, manipulators of this kind are frequently used because they enable a trade-off between structural integrity and deformation tolerance.…”

“…Due to the need for manipulators that have the advantages of rigid-link and flexible-link such as flexibility and low energy consumption, Zhang et al [7] proposed a rigid but flexible robotic manipulator that attracted a lot of researchers around. Some research studies have been conducted to achieve the desired performance in different operating conditions.…”

“…Nevertheless, there has been no experimental confirmation of the suggested strategy's efficacy. In three-dimensional space, for a two-link rigid-flexible coupled manipulator system subject to input limitations and time-varying disturbances, Zhang et al [7] developed an AILC law. Using Hamilton's notion, a dynamic model of a manipulator system was constructed.…”