Title :
Iterative learning control of a single-link flexible manipulator based on an identified adaptive NARX model
Author :
Mute, Dinesh ; Ghosh, Sudip ; Subudhi, Bidyadhar
Author_Institution :
Dept. of Electr. Eng., NIT Rourkela, Rourkela, India
Abstract :
In this paper an iterative learning controller (ILC) is designed based on the identified model of a single-link flexible manipulator (SLFM). As the system is nonlinear and time-varying so to meet the demands of the control system design, an adaptive nonlinear autoregressive with exogenous input (NARX) model is identified using the input/output experimental data. Tuning of the ILC controller is carried out using least square method. Simulation results demonstrate the potential of the NARX model based ILC controller for precise rotation tracking of a single-link flexible manipulator with suppressing link vibration.
Keywords :
adaptive control; autoregressive processes; control system synthesis; flexible manipulators; iterative methods; learning systems; least squares approximations; nonlinear control systems; time-varying systems; vibration control; ILC controller tuning; ILC design; SLFM; adaptive nonlinear autoregressive with exogenous input model; control system design; identified adaptive NARX model; iterative learning controller design; least square method; rotation tracking; single-link flexible manipulator; suppressing link vibration; time-varying; Adaptation models; Autoregressive processes; Manipulator dynamics; Mathematical model; Trajectory; Identification; Iterative learning control (ILC); Least square estimation; NARX; single-link manipulator;
Conference_Titel :
India Conference (INDICON), 2013 Annual IEEE
Conference_Location :
Mumbai
Print_ISBN :
978-1-4799-2274-1
DOI :
10.1109/INDCON.2013.6725964
