{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T06:42:59Z","timestamp":1777704179549,"version":"3.51.4"},"reference-count":21,"publisher":"SAGE Publications","issue":"4","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IFS"],"published-print":{"date-parts":[[2021,4,12]]},"abstract":"<jats:p>In this paper, a two-degree-of-freedom manipulator is taken as the research object, and the relevant dynamic model is established, the iterative learning controller is designed, and the trajectory tracking control of the manipulator is carried out by using the iterative learning control algorithm. Iterative learning control (ILC) has a better control effect on a two-degree-of-freedom manipulator with repetitive motion characteristics for its non-linear system. In the case of disturbance, a PD-type iterative learning control law is designed. With the increasing number of iterations of the system, the required correction interval is shortened by modifying the gain matrix in real time in the interval, so as to accelerate the convergence speed. The simulation results show that the convergence speed of PD-type ILC is faster than that of P-type ILC, and the convergence effect of PD-type ILC with disturbance is better than that of traditional disturbance-type ILC. The industrial robot system is guaranteed to have good dynamic performance.<\/jats:p>","DOI":"10.3233\/jifs-189427","type":"journal-article","created":{"date-parts":[[2020,10,30]],"date-time":"2020-10-30T12:32:39Z","timestamp":1604061159000},"page":"5875-5882","source":"Crossref","is-referenced-by-count":2,"title":["Iterative learning control algorithm for optimal path industrial manipulator"],"prefix":"10.1177","volume":"40","author":[{"given":"Zhengjie","family":"Lu","sequence":"first","affiliation":[{"name":"School of Mechanical and Electrical Engineering, Hechi University, Yizhou, Guangxi, China"}]}],"member":"179","reference":[{"issue":"2","key":"10.3233\/JIFS-189427_ref1","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1002\/rob.4620010203","article-title":"Bettering operation of robots by learning [J]","volume":"1","author":"Arimoto","year":"1984","journal-title":"Journal of Robotic Systems"},{"issue":"23","key":"10.3233\/JIFS-189427_ref2","doi-asserted-by":"crossref","first-page":"6134","DOI":"10.1016\/j.ces.2010.08.031","article-title":"Robust two-dimensional iterative learning control for batch processes with state delay and time-varying uncertainties[J]","volume":"65","author":"Liu","year":"2010","journal-title":"Chemical Engineering Science"},{"issue":"13","key":"10.3233\/JIFS-189427_ref3","doi-asserted-by":"crossref","first-page":"153","DOI":"10.1016\/j.ces.2011.12.028","article-title":"Advanced PI control with simple learning set-point design: application on batch processes and robust stability analysis [J]","volume":"71","author":"Wang","year":"2012","journal-title":"Chemical Engineering Science"},{"issue":"12","key":"10.3233\/JIFS-189427_ref4","doi-asserted-by":"crossref","first-page":"95","DOI":"10.1016\/j.jprocont.2014.07.002","article-title":"based indirect-type iterative learning control for batch processes with time-varying uncertainties[J]","volume":"24","author":"Liu","year":"2014","journal-title":"Journal of Process Control"},{"issue":"15","key":"10.3233\/JIFS-189427_ref5","doi-asserted-by":"crossref","first-page":"1904","DOI":"10.1049\/iet-cta.2016.0077","article-title":"Robust iterative learning control for batch processes with input delay subject to time-varying uncertainties[J]","volume":"10","author":"Hao","year":"2016","journal-title":"IET Control Theory & Applications"},{"key":"10.3233\/JIFS-189427_ref6","doi-asserted-by":"crossref","first-page":"608","DOI":"10.1016\/j.amc.2014.08.072","article-title":"Fuzzy iterative learning control applied in a biological reactor using a reduced number of measures[J]","volume":"246","author":"Marquez-Vera","year":"2014","journal-title":"Applied Mathematics and Computation"},{"issue":"6","key":"10.3233\/JIFS-189427_ref7","doi-asserted-by":"crossref","first-page":"1054","DOI":"10.1016\/j.jprocont.2008.12.004","article-title":"An LMI approach for robust iterative learning control with quadratic performance criterion","volume":"19","author":"Nguyen","year":"2009","journal-title":"Journal of Process Control"},{"issue":"1","key":"10.3233\/JIFS-189427_ref8","doi-asserted-by":"crossref","first-page":"125","DOI":"10.1016\/j.conengprac.2014.01.011","article-title":"Pareto iterative learning control: optimized control for multiple performance objectives","volume":"26","author":"Lim","year":"2014","journal-title":"Control Engineering Practice"},{"issue":"11","key":"10.3233\/JIFS-189427_ref9","doi-asserted-by":"crossref","first-page":"2062","DOI":"10.1080\/00207721.2011.564324","article-title":"Monotonically convergent ILC systems designed using bounded real lemma[J]","volume":"43","author":"Meng","year":"2012","journal-title":"International Journal of Systems Science"},{"issue":"2","key":"10.3233\/JIFS-189427_ref10","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1080\/00207721.2013.775392","article-title":"Approach to monotonically convergent ILC for uncertain time-varying delay systems[J]","volume":"46","author":"Meng","year":"2015","journal-title":"International Journal of Systems Science"},{"issue":"7","key":"10.3233\/JIFS-189427_ref11","doi-asserted-by":"crossref","first-page":"653","DOI":"10.1002\/acs.1228","article-title":"Robust learning controller design for MIMO stochastic discrete-time systems: a based approach[J]","volume":"25","author":"Meng","year":"2011","journal-title":"International Journal of Adaptive Control and Signal Processing"},{"issue":"1","key":"10.3233\/JIFS-189427_ref12","doi-asserted-by":"crossref","first-page":"269","DOI":"10.1007\/BF01386390","article-title":"A note on two problems in connection with graphs[J]","volume":"1","author":"Dijkstra","year":"1959","journal-title":"Numerische Mathematics"},{"issue":"2","key":"10.3233\/JIFS-189427_ref13","first-page":"310","article-title":"Convergence analysis of PD alpha type iterative learning control law with feedback information in the sense of Lebesgue-p norm [J]","volume":"35","author":"Kejun","year":"2017","journal-title":"Acta Sinica"},{"issue":"09","key":"10.3233\/JIFS-189427_ref14","first-page":"1190","article-title":"Disturbance-resistant iterative learning control with non-strict repetitive disturbances [J]","volume":"31","author":"Qing","year":"2014","journal-title":"Control Theory and Application"},{"issue":"11","key":"10.3233\/JIFS-189427_ref15","first-page":"2071","article-title":"Lebesgue-p norm, interval-adjustable variable gain accelerated iterative learning control [J]","volume":"32","author":"Tianyi","year":"2017","journal-title":"Control and Decision-Making"},{"key":"10.3233\/JIFS-189427_ref16","doi-asserted-by":"crossref","first-page":"36","DOI":"10.1016\/j.conengprac.2017.05.004","article-title":"Robust guaranteed cost ILC with dynamic feed forward and disturbance compensation for accurate PMSM position control [J]","volume":"65","author":"Mandra","year":"2017","journal-title":"Control Engineering Practice"},{"issue":"5","key":"10.3233\/JIFS-189427_ref17","doi-asserted-by":"crossref","first-page":"1754","DOI":"10.1109\/TCST.2014.2382579","article-title":"Combined ILC and disturbance observer for the rection of mean-repetitive disturbances with application to excavation[J]","volume":"23","author":"Maeda","year":"2015","journal-title":"IEEE Transactions on Control Systems Technology"},{"issue":"12","key":"10.3233\/JIFS-189427_ref18","doi-asserted-by":"crossref","first-page":"64","DOI":"10.1016\/j.jprocont.2014.04.013","article-title":"Survey on stochastic iterative learning control [J]","volume":"24","author":"Shen","year":"2014","journal-title":"Journal of Process Control"},{"key":"10.3233\/JIFS-189427_ref19","first-page":"1","article-title":"A type of biased consensus-based distributed neural network for path planning[J]","volume":"2017","author":"Zhang","journal-title":"Nonlinear Dynamics"},{"issue":"4","key":"10.3233\/JIFS-189427_ref20","doi-asserted-by":"crossref","first-page":"61","DOI":"10.1109\/MCI.2012.2215139","article-title":"Novel recurrent neural network for time-varying problems solving [Research Frontier][J]","volume":"7","author":"Guo","year":"2012","journal-title":"IEEE Computational Intelligence Magazine"},{"key":"10.3233\/JIFS-189427_ref21","doi-asserted-by":"crossref","first-page":"4503","DOI":"10.1007\/s00521-018-3835-0","article-title":"Iterative learning control for linear generalized distributed parameter system[J]","volume":"31","author":"Zhang","year":"2019","journal-title":"Neural Computing and Applications"}],"container-title":["Journal of Intelligent &amp; Fuzzy Systems"],"original-title":[],"link":[{"URL":"https:\/\/content.iospress.com\/download?id=10.3233\/JIFS-189427","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T09:40:38Z","timestamp":1777455638000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/full\/10.3233\/JIFS-189427"}},"subtitle":[],"editor":[{"given":"Suresh Chandra","family":"Satapathy","sequence":"additional","affiliation":[]},{"given":"Rashmi","family":"Agrawal","sequence":"additional","affiliation":[]},{"given":"Vicente","family":"Garc\u00eda D\u00edaz","sequence":"additional","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2021,4,12]]},"references-count":21,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.3233\/jifs-189427","relation":{},"ISSN":["1064-1246","1875-8967"],"issn-type":[{"value":"1064-1246","type":"print"},{"value":"1875-8967","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,4,12]]}}}