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LMI를 이용한 2축 평면 기구 로봇의 ILC 제어기 설계

Title
LMI를 이용한 2축 평면 기구 로봇의 ILC 제어기 설계
Other Titles
ILC Controller Design Using LMI for 2-link Planar Robot Manipulator
Author
박종현
Keywords
Iterative Learning Controller; Linear Matrix Inequality; Industrial Robot
Issue Date
2013-05
Publisher
제어로봇시스템학회
Citation
제어로봇시스템학회 국내학술대회 논문집, 2013, P.51-54
Abstract
In general, industrial robots carry out repetitive tasks on production lines. Although robot control technology has really improved, tracking error still occurs when a robot performs repetitive tasks under the influence of iterative noise and other disturbances. To solve these problems, Iterative Learning Control (ILC) was proposed. ILC is a learning control that can reduce the error of the current motion by using the error of the previous run. ILC using Linear Matrix Inequality (LMI), the one of ILC algorithms, can be applied to designing a simple controller in the frequency domain of complex systems. In this paper, learning function (L-function) of ILC is designed by using an LMI algorithm and control performance was compared for different various orders of L-function. Also, Q-filter is designed based on the dynamics of the designed system. To confirm the improved performance of the algorithms, designed ILC controller is applied to a 2-link planer robot manipulator in simulations.
URI
http://www.dbpia.co.kr/Journal/ArticleDetail/NODE02219794http://hdl.handle.net/20.500.11754/54749
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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