Kawalan jitu dan lasak bagi satu sistem lengan robot atau pengolah adalah amat penting terutama sekali jika sistem mengalami pelbagai bentuk bebanan dan keadaan pengendalian. Kertas kerja ini memaparkan satu kaedah baru dan lasak untuk mengawal lengan robot menggunakan teknik pembelajaran secara berlelaran yang dimuatkan dalam strategi kawalan daya aktif. Sebanyak dua algoritma pembelajaran utama digunakan dalam kajian – yang pertama digunakan untuk menala gandaan pengawal secara automatik manakala yang satu lagi pula untuk menganggarkan matriks inersia pengolah. Kedua-dua parameter ini dihasilkan secara adaptif dan dalam talian ketika robot sedang menjalankan tugas menjejak trajektori dalam persekitaran tindakan daya gangguan. Dalam kajian ini, pengetahuan awal tentang kedua–dua nilai gandaan pengawal dan anggaran matriks inersia tidak wujud. Dengan demikian, suatu skema kawalan yang jitu dan lasak terhasil. Keberkesanan kaedah yang dicadangkan dapat ditentusahkan melalui hasil kajian yang diperoleh dan dibentangkan dalam kertas kerja ini. Kata kunci: Adaptif; kawalan daya aktif; pembelajaran berlelaran; matriks inersia; gandaan pengawal The robust and accurate control of a robotic arm or manipulator are of prime importance especially if the system is subjected to varying forms of loading and operating conditions. The paper highlights a novel and robust method to control a robotic arm using an iterative learning technique embedded in an active force control strategy. Two main iterative learning algorithms are utilized in the study – the first is used to automatically tune the controller gains while the second to estimate the inertia matrix of the manipulator. These parameters are adaptively computed on-line while the robot is executing a trajectory tracking task and subject to some forms of external disturbances. No priori knowledge of both the controller gains and the estimated inertia matrix are ever assumed in the study. In this way, an adaptive and robust control scheme is derived. The effectiveness of the method is verified and can be seen from the results of the work presented in this paper. Keywords: Adaptive; active force control; iterative learning; inertia matrix; controller gain
Distribution pattern of spray boom in fields is affected by several parameters which one of the important reasons is horizontal and vertical vibrations because of unevenness surfaces. Spray boom movements lead to decrease of spread efficiency and crop yield. Generally, active suspension is employed to control and attenuate the vibration of sprayer booms because these suspensions reduce the high frequency vibration of spray booms thanks to irregularities soil. In this research, a proportional-integral-derivative controller with active force control is used to remove undesired rolling of spray boom. Simulation results depict that the proposed scheme is more effective and accurate than PID control only scheme. The AFC based scheme shows the robustness and accuracy compared to the PID controller.
This paper presents a novel approach to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator applying an active force control (AFC) strategy. A PID-based computed torque controller (CTC) was first designed and developed to demonstrate the basic and stable response of the manipulator in order to follow a prescribed trajectory. Then, the AFC part was incorporated into the control scheme in series with the CTC (AFC-CTC) in a cascade form. Performance of the system was demonstrated by the computer simulation results. By using the AFC method, the design of trajectory tracking controller can be conducted based on a precise model of the system. The overall tracking performance was improved with using AFC scheme in presence of known or unknown disturbances. Results clearly illustrate the robustness and effectiveness of the proposed AFC-based scheme as a robust disturbance rejecter compared to the conventional CT controller.
Kajian ini adalah berkaitan dengan pembangunan perisian dalam bentuk suatu aturcara komputer berinteraktif yang menyepadukan beberapa skema kawalan robotik dengan kawalan daya aktif (AFC) sebagai elemen utama melibatkan tatarajah sebuah lengan robot planar tegar dua–sendi. Skema AFC yang digunakan bersama dengan beberapa kaedah konvensyenal dan pintar dimuatkan ke dalam gelung kawalan utama untuk mendapatkan matriks inersia anggaran lengan robot. Skema robot telah dibangunkan secara individu menerusi kajian yang dilakukan sebelum ini. Hasil daripada kajian yang telah dijalankan menunjukkan bahawa teknik AFC menyediakan suatu penyelesaian praktik untuk menambahkan lagi kelasakan sistem walaupun disertai dengan pelbagai keadaan tidak menentu, gangguan dan bebanan. Oleh yang demikian, adalah dirasakan perlu untuk membangunkan suatu perisian yang dapat menyepadukan kesemua skema AFC tadi menjadi satu program menerusi penggunaan kaedah antara muka grafik pengguna (GUI). Dengan itu, pengguna boleh memilih dan menjalankan kerja simulasi skema yang dipilih dengan mudah melalui operasi menekan papan kunci atau butang pada alat masukan. Ini menghasilkan suatu aturcara yang berbentuk mesra pengguna, mudah dicapai, bolehsuai dan terbukti keberkesanannya. Selain daripada itu, hasil keputusan secara grafik dapat ditunjukkan serta dibuat analisis secara dalam–talian semasa aturcara sedang berjalan. Dengan menggunakan MATLAB dan kemudahan GUInya, kesemua skema AFC yang telah dikaji sebelum ini seperti AFC menggunakan kaedah anggaran kasar, AFC bersama kaedah pembelajaran berlelaran (AFCAIL), AFC bersama rangkaian neural (AFCANN), AFC bersama logik kabur (AFCAFL), dan AFC bersama algoritma genetik (AFCAGA) dapat dihubungkan ke dalam satu aturcara berasaskan menu di mana setiap skema boleh dipilih dan dijalankan oleh pengguna. Suatu skema kawalan berkadaran campur terbitan (PD) juga dimuatkan ke dalam aturcara sebagai kayu pengukur terhadap keberkesanan skema AFC. Kata kunci: Kawalan daya aktif, lengan robot, matriks inersia anggaran, antara muka grafik pengguna The paper describes the development of a software in the form of an interactive computer program that integrates a number of robotic control schemes with the active force control (AFC) strategy as the key element of the robotic system that assumes a rigid two–link planar configuration. The various AFC schemes are employed in conjunction with a number of conventional and intelligent techniques embedded in the main control loop to approximate the estimated inertia matrix of the robot arm. The schemes have been individually developed and rigorously experimented through simulation studies. The results of these studies clearly indicate that the AFC technique provides a practical solution to enhance the robustness of the robotic system even in the wake of uncertainties, disturbances and varied loading conditions. Thus, it is deemed useful to develop software that can integrate a number of individual AFC schemes into a single program using a graphic user interface (GUI) technique. In this manner, the user can effectively select and execute any scheme by the manipulation of a few keystrokes or buttons of the input devices. This resulted in a program that is user friendly, readily accessible, flexible and proved very convenient. On top of that, the graphical results can be observed and analysed on–line while the program is running. By using MATLAB and its GUI facility, all the AFC schemes already described in the previous works such as the AFC with crude approximation method, AFC and Iterative Learning (AFCAIL), AFC and Neural Network (AFCANN), AFC and Fuzzy Logic (AFCAFL), and AFC and Genetic Algorithm (AFCAGA) schemes were linked into a single menu–driven program where each of the scheme can be easily selected and executed by the user. A classic proportional–derivative (PD) control scheme was also included in the program for the purpose of benchmarking. Key words: Active force control, robot arm, estimated inertia matrix, graphic user interface
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