Advanced open-closed-loop PIDD²/PID type ILC control of a robot arm

摘要

In this paper, a new open-closed-loop PIDD2/PID type iterative learning control is studied for joint space trajectory tracking control of time-varying robotic manipulator. We propose intelligent control system which consists of a computed torque controller for linearizing robot dynamics. Then open-closed ILC is applied to the linearized system to further enhance tracking performance for repetitive tasks and deal with the model uncertainties. It is theoretically proven that the boundednesses of the tracking error are guaranteed in the presence of model uncertainty. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed advanced open-closed iterative learning control scheme.