Stability Control of Transport Robot Based on Iterative Learning Control

Liu, Tingrui; Ding, Yan; Wang, Pan; Zhao, Kang; Jia, Jiahao

doi:10.1088/1742-6596/2173/1/012061

Cited by 2 publications

(1 citation statement)

References 3 publications

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“…Traditional ILC control theory is predicated on the assumption that the controlled system's iterative starting value deviation is zero. When the controlled system is satisfied with the iterative initial value constraint conditions, the output of the controlled system can be in a given time interval, in strict accordance with the desired trajectory [3][4][5] (which is perfect tracking), but in practical engineering applications, it is difficult to meet every time constraint with a zero initial iteration value deviation [6]. Thus, the engineering application of ILC theory is limited.…”

Section: Introductionmentioning

confidence: 99%

A Novel Predefined Time PD-Type ILC Paradigm for Nonlinear Systems

et al. 2022

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Intelligent robotics has drawn a great deal of attention due to its high precision, stability, and reliability, which are the basic key factors for industrial automation. This paper proposes an iterative learning control (ILC) technique with predefined-time convergence as a solution to an applied engineering problem, namely, that local time cannot be preset when a second-order nonlinear system undertakes control of the accurate tracking of local time under any initial iterative value. A time-varying sliding surface with an initial value of zero was designed, and it was theoretically proven that the trajectory tracking error in the sliding surface could converge to zero within a predefined time. The iterative control problem of trajectory tracking was thus changed to an iterative control problem of time-varying sliding-mode surface tracing with a starting value of zero. A PD-type closed-loop ILC with a time-varying sliding mode surface was designed such that the trajectory tracking error converged and stabilized on the sliding mode surface after a finite number of learning iterations. The control goal for the system’s output was the ability to track the desired trajectory accurately within a predefined time interval, and it was achieved by combining this with the predefined time convergence characteristics of the time-varying sliding mode surface. Numerical simulation of trajectory tracking control of a repetitive motion manipulator was used to verify the effectiveness of the proposed controller and its robustness in the face of external disturbances.

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Section: Introductionmentioning

confidence: 99%

A Novel Predefined Time PD-Type ILC Paradigm for Nonlinear Systems

et al. 2022

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Real-Time Laser Interference Detection of Mechanical Targets Using a 4R Manipulator

Liu

Ding

et al. 2023

Sensors

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In this study, a laser interferometric sensing measurement (ISM) system based on a 4R manipulator system is developed to achieve detection of mechanical targets, which aims to realize the real-time, online detection of workpieces with high precision during processing. The 4R mobile manipulator (MM) system is flexible and can move in the workshop, aiming to preliminarily track the position of the workpiece to be measured and locate it at millimeter level. The reference plane of the ISM system is driven by piezoelectric ceramics with the spatial carrier frequency realized and the interferogram obtained by a charge coupled device (CCD) image sensor. The subsequent processing of the interferogram includes fast Fourier transform (FFT), spectrum filtering, phase demodulation, tilt elimination for wave-surface, etc., so as to further restore the surface shape of the measured surface and obtain the surface quality indexes. A novel cosine banded cylindrical (CBC) filter is used to improve the FFT processing accuracy, and a bidirectional extrapolation and interpolation (BEI) technique is proposed for the preprocessing operation of real-time interferograms before FFT processing. Compared with the results from a ZYGO interferometer, the real-time online detection results show the reliability and practicability of this design. The relative error of peak–valley value reflecting the processing accuracy can reach about 0.63%, with the root-mean-square value reaching about 1.36%. Some possible applications of this work include the surface of mechanical parts in the process of online machining, the end face of shaft-like structures, annular surfaces, etc.

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Stability Control of Transport Robot Based on Iterative Learning Control

Cited by 2 publications

References 3 publications

A Novel Predefined Time PD-Type ILC Paradigm for Nonlinear Systems

A Novel Predefined Time PD-Type ILC Paradigm for Nonlinear Systems

Real-Time Laser Interference Detection of Mechanical Targets Using a 4R Manipulator

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