Iterative learning control of a flexible manipultor

Control systems have played an important role in the development of modern life and technology. In many industrial robot applications, they are programmed to do the same task repeatedly. One of the intelligent control methodologies is iterative learning control (ILC). In this thesis, ILC method for...

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Main Author:	Abuzaiter, Alaa A. H.
Format:	Thesis
Language:	English
Published:	2013
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/34634/5/AlaaAHAbuzaiterMFKE12013.pdf
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id	my-utm-ep.34634
record_format	uketd_dc
spelling	my-utm-ep.346342017-07-24T07:44:56Z Iterative learning control of a flexible manipultor 2013-01 Abuzaiter, Alaa A. H. TK Electrical engineering. Electronics Nuclear engineering Control systems have played an important role in the development of modern life and technology. In many industrial robot applications, they are programmed to do the same task repeatedly. One of the intelligent control methodologies is iterative learning control (ILC). In this thesis, ILC method for a single-link flexible manipulator is proposed to achieve precise tracking control and end-point vibration suppression of the system. The learning is done in a feedback signal and the learning law updates the feed forward input from the error of the previous trial. Three learning algorithms are used: P-type, PI-type and PD-type. The dynamic model of the flexible manipulator is derived using the finite element method. Simulation results of the response of the manipulator with the controllers are presented in the time and frequency domains. The performance of the ILC scheme is assessed in terms of input tracking and level of vibration reduction. It is demonstrated that PD-type ILC provides the highest performance for control of a flexible manipulator. 2013-01 Thesis http://eprints.utm.my/id/eprint/34634/ http://eprints.utm.my/id/eprint/34634/5/AlaaAHAbuzaiterMFKE12013.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:70652?site_name=Restricted Repository masters Universiti Teknologi Malaysia, Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Abuzaiter, Alaa A. H. Iterative learning control of a flexible manipultor
description	Control systems have played an important role in the development of modern life and technology. In many industrial robot applications, they are programmed to do the same task repeatedly. One of the intelligent control methodologies is iterative learning control (ILC). In this thesis, ILC method for a single-link flexible manipulator is proposed to achieve precise tracking control and end-point vibration suppression of the system. The learning is done in a feedback signal and the learning law updates the feed forward input from the error of the previous trial. Three learning algorithms are used: P-type, PI-type and PD-type. The dynamic model of the flexible manipulator is derived using the finite element method. Simulation results of the response of the manipulator with the controllers are presented in the time and frequency domains. The performance of the ILC scheme is assessed in terms of input tracking and level of vibration reduction. It is demonstrated that PD-type ILC provides the highest performance for control of a flexible manipulator.
format	Thesis
qualification_level	Master's degree
author	Abuzaiter, Alaa A. H.
author_facet	Abuzaiter, Alaa A. H.
author_sort	Abuzaiter, Alaa A. H.
title	Iterative learning control of a flexible manipultor
title_short	Iterative learning control of a flexible manipultor
title_full	Iterative learning control of a flexible manipultor
title_fullStr	Iterative learning control of a flexible manipultor
title_full_unstemmed	Iterative learning control of a flexible manipultor
title_sort	iterative learning control of a flexible manipultor
granting_institution	Universiti Teknologi Malaysia, Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2013
url	http://eprints.utm.my/id/eprint/34634/5/AlaaAHAbuzaiterMFKE12013.pdf
_version_	1747816222274093056

Iterative learning control of a flexible manipultor

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