Perching with a robotic insect using adaptive tracking control and iterative learning control

2016 ◽  
Vol 35 (10) ◽  
pp. 1185-1206 ◽  
Author(s):  
Pakpong Chirarattananon ◽  
Kevin Y Ma ◽  
Robert J Wood
Keyword(s):  
Tracking Control ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking

Iterative learning control for a distributed cloud robot with payload delivery

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Jiehao Li ◽  
Shoukun Wang ◽  
Junzheng Wang ◽  
Jing Li ◽  
Jiangbo Zhao ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Robot System ◽  
Trajectory Tracking Control ◽  
Content Type ◽  
Motion Models ◽  
Distributed Cloud

Purpose When it comes to the high accuracy autonomous motion of the mobile robot, it is challenging to effectively control the robot to follow the desired trajectory and transport the payload simultaneously, especially for the cloud robot system. In this paper, a flexible trajectory tracking control scheme is developed via iterative learning control to manage a distributed cloud robot (BIT-6NAZA) under the payload delivery scenarios. Design/methodology/approach Considering the relationship of six-wheeled independent steering in the BIT-6NAZA robot, an iterative learning controller is implemented for reliable trajectory tracking with the payload transportation. Meanwhile, the stability analysis of the system ensures the effective convergence of the algorithm. Findings Finally, to evaluate the developed method, some demonstrations, including the different motion models and tracking control, are presented both in simulation and experiment. It can achieve flexible tracking performance of the designed composite algorithm. Originality/value This paper provides a feasible method for the trajectory tracking control in the cloud robot system and simultaneously promotes the robot application in practical engineering.

Iterative Learning Control With Switching Gain Feedback for Nonlinear Systems

2010 ◽  
Vol 6 (1) ◽  
Author(s):  
P. R. Ouyang ◽  
B. A. Petz ◽  
F. F. Xi
Keyword(s):  
Feedback Control ◽  
Nonlinear Systems ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Iterative Learning Control ◽  
Tracking Error ◽  
Learning Control ◽  
Iterative Learning ◽  
Trajectory Tracking Control ◽  
Control Scheme

Iterative learning control (ILC) is a simple and effective technique of tracking control aiming at improving system tracking performance from trial to trial in a repetitive mode. In this paper, we propose a new ILC called switching gain PD-PD (SPD-PD)-type ILC for trajectory tracking control of time-varying nonlinear systems with uncertainty and disturbance. In the developed control scheme, a PD feedback control with switching gains in the iteration domain and a PD-type ILC based on the previous iteration combine together into one updating law. The proposed SPD-PD ILC takes the advantages of feedback control and classical ILC and can also be viewed as online-offline ILC. It is theoretically proven that the boundednesses of the state error and the final tracking error are guaranteed in the presence of uncertainty, disturbance, and initialization error of the nonlinear systems. The convergence rate is adjustable by the adoption of the switching gains in the iteration domain. Simulation experiments are conducted for trajectory tracking control of a nonlinear system and a robotic system. The results show that fast convergence and small tracking error bounds can be observed by using the SPD-PD-type ILC.

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