Open AccessITERATIVE LEARNING CONTROL OF A TWO LINK ROBOT ARM
Author(s) -
Abeer Khaldoon Al Gburi
Publication year - 2020
Publication title -
minar international journal of applied sciences and technology
Language(s) - English
Resource type - Journals
ISSN - 2717-8234
DOI - 10.47832/2717-8234.4-2.8
Subject(s) - iterative learning control , pid controller , control theory (sociology) , controller (irrigation) , robot , trajectory , computer science , arm solution , control engineering , robotic arm , matlab , robot control , nonlinear system , industrial robot , artificial intelligence , control (management) , engineering , mobile robot , physics , temperature control , agronomy , quantum mechanics , astronomy , biology , operating system
The control of robot manipulators has been an important research subject due to their frequent use in many fields. Meanwhile, learning controllers are widely employed for industrial robots to enable precision control. This paper considers the implementation of Derivative type Iterative Learning Controller (D-type ILC) for trajectory tracking of a two-link robot arm model. The nonlinear mathematical model of the robot is first linearized before applying the ILC controller to the robot system. The controller system is implemented using MATLAB. The results obtained illustrated the efficiency of the proposed controller and are compared to the results of a Proportional-Integral-Derivative (PID) controller.