LMI를 이용한 2축 평면 기구 로봇의 ILC 제어기 설계

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.