چکیده مقاله
This paper deals with the robust iterative learning control ILC design for uncertain single input single output SISO linear time invariant LTI systems In many industrial robot applications it is a fact that the robot is programmed to do the same task repeatedly By observing the control error in the different iterations of thesame task it becomes clear that it is actually highly repetitive The ILC allows to iteratively compensate for and,hence, remove this repetitive error In this study different aspects of iterative learning control are covered Although stability is the most important in practice the design aspect is also highlighted Several design schemesfor iterative learning control methods are presented, including first order as well as second order iterativelearning control and parameter tuning The main features of the design are that: The control signal is continuousand the coefficient of controller is optimized Therefore it is chattering free compared with the robust ILC using classical first order sliding mode technique In the proposed system, free parameters of controller have vital role in the performance of system Therefore we suggest Imperialist Competitive Algorithm ICA for finding the best value of these parameters The proposed system is tested on robotic manipulator problem and simulation results show that the recommended system has high accuracy
کلیدواژهها
نویسندگان
Hossein Babaee
Babol Noshirvani University
Alireza Khosravi
Babol Noshirvani University
شیوه ارجاع
Babaee, Hossein and Khosravi, Alireza,1394,Optimum Iterative Learning Control Design Using Imperialist Competitive Algorithm,International Conference on New Research Findings in Electrical Engineering and Computer Science,Tehran
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