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<p>In the ever-changing landscape of technological advancements, robotics plays a significant part in meeting growing industry demands. Considering the nonlinear, coupled nature and uncertainties of multi-body robotic systems, the ability of articulated manipulators to successfully track the trajectory imposed by a given task is a hallmark of a well-designed control system and remains a crucial aspect of robotics research. Motivated by the potential of control strategies based on the ultra-local models with regard to application in modern robotic systems and recognizing the potential of iterative learning control (ILC) in addressing the repetitive nature of robot manipulation tasks performed by articulated robots, this study proposes a novel control scheme combining an intelligent PD (iPD) controller and a fractional-order iterative learning controller (FOILC). Simulation results with comparative analysis are presented to illustrate the performance improvement and robustness of the proposed controller for the 3-DoF articulated robot.</p>

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Fractional-order Iterative Learning Control Enhanced Intelligent PID for Articulated Robots

  • 期刊论文

  • 发表日期：

    2025年7月14日

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  • Nikola Živković,
  • Mihailo Lazarević,
  • Jelena Vidaković

摘要

In the ever-changing landscape of technological advancements, robotics plays a significant part in meeting growing industry demands. Considering the nonlinear, coupled nature and uncertainties of multi-body robotic systems, the ability of articulated manipulators to successfully track the trajectory imposed by a given task is a hallmark of a well-designed control system and remains a crucial aspect of robotics research. Motivated by the potential of control strategies based on the ultra-local models with regard to application in modern robotic systems and recognizing the potential of iterative learning control (ILC) in addressing the repetitive nature of robot manipulation tasks performed by articulated robots, this study proposes a novel control scheme combining an intelligent PD (iPD) controller and a fractional-order iterative learning controller (FOILC). Simulation results with comparative analysis are presented to illustrate the performance improvement and robustness of the proposed controller for the 3-DoF articulated robot.