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

fYear

2013

fDate

13-15 Dec. 2013

Firstpage

1

Lastpage

4

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;

fLanguage

English

Publisher

ieee

Conference_Titel

India Conference (INDICON), 2013 Annual IEEE

Conference_Location

Mumbai

Print_ISBN

978-1-4799-2274-1

Type

conf

DOI

10.1109/INDCON.2013.6725964

Filename

6725964