Functional Iterative Learning Control With Full State Feedback Control of a Flexible Link Robot Actuated With a Stepper Motor

Functional Iterative Learning Control With Full State Feedback Control of a Flexible Link Robot Actuated With a Stepper Motor

Drost, Sjoerd (TU Delft Mechanical, Maritime and Materials Engineering; TU Delft Cognitive Robotics)

Della Santina, C. (mentor)
Smit, G. (mentor)
Hassan HosseinNia, S. (graduation committee)

Delft University of Technology

Mechanical Engineering | Vehicle Engineering | Cognitive Robotics

2022-06-13

Advantages of lightweight design robot links include cost savings and reduced energy consumption. The flexibility introduced by the lightweight design can cause structural vibrations decreasing precision. To mitigate this, an advanced controller is proposed, consisting of Iterative Learning Control combined with Full State Feedback control. To evaluate the performance of the proposed controller an experimental setup is designed and the controller is implemented. Different experiments are conducted to gain insight in the performance of the proposed controller. The Full State Feedback controller can drastically shorten the vibration time. Results show that the Iterative Learning controller can even further improve the performance of the experimental setup. While a small trade off has to be made with regard to the vibration damping of the setup, the Iterative Learning Controller can improve the settling time and steady state error correction of the link angle.

Functional iterative learning control
Full state feedback
Repetitive flexible link control

http://resolver.tudelft.nl/uuid:c0f7eec5-c114-4b83-8de4-6cb58b6d53be

Student theses

master thesis

© 2022 Sjoerd Drost