Abstract
For a class of two-degree-of-freedom robotic arm systems with strong coupling, time-varying parameters, and uncertain interference properties, the ILC algorithm has a fairly good control effect. In this paper, a multi-exponential accelerated ILC algorithm is proposed. Its convergence is analyzed; the algorithm mainly solves robotic arm trajectory tracking accuracy and iterative learning speed, which can realize fast and accurate tracking of robotic arm trajectory. Finally, the robot arm trajectory tracking system is simulated by MATLAB. The simulation results show that the improved algorithm effectively reduces the learning error and time compared with the original algorithm, which verifies the algorithm’s effectiveness.
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Wei, J. et al. (2022). Intelligent Robotic Arm Trajectory Tracking Research Based on a Multi-exponential Accelerated ILC Algorithm. In: Hassanien, A.E., Snášel, V., Chang, KC., Darwish, A., Gaber, T. (eds) Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2021. AISI 2021. Lecture Notes on Data Engineering and Communications Technologies, vol 100. Springer, Cham. https://doi.org/10.1007/978-3-030-89701-7_19
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DOI: https://doi.org/10.1007/978-3-030-89701-7_19
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