A Hybrid PID-LQR Control Applied in Positioning Control of Robotic Manipulators Subject to Excitation from Non-ideal Sources

Tusset, Ângelo Marcelo; Lima, Jeferson José de; Janzen, Frederic Conrad; Filho, Pedro Luíz de Paula; Luz, Jose A. G.; Balthazar, José Manoel; Kossoski, Adriano

doi:10.1007/978-3-030-96603-4_21

Cited by 2 publications

(2 citation statements)

References 13 publications

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“…Because they are similar to the human arm, they can be used to replace humans in risky activities, such as handling radioactive materials or handling materials with the risk of biological contamination, among many others [1]- [3]. The field of study of applications and improvements of robotic manipulators has shown promise in recent years, leading researchers from academia and industry to develop applied research on robotic manipulators, contributing to scientific advances and meeting industrial needs [4]- [6].…”

Section: Introductionmentioning

confidence: 99%

“…While in [22]- [23], the SDRE control is designed for a robotic manipulator with 2 degrees of freedom and a nonideal excitation source. Positioning control of a robotic manipulator subjected to vibrations originating from a non-ideal excitation source is also presented in [24], [25] being combined PID-LQR controls and feedforward control. In [26], a Complex Fractional Order (CFO) Linear Quadratic Integral Regulator (LQIR) is proposed.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic Model of a Robotic Manipulator with One Degree of Freedom with Friction Component

Luz

Balthazar

Ribeiro

et al. 2023

IJRCS

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This research aims to develop a dynamic model of a robotic manipulator with one degree of freedom by incorporating the LuGre friction model. The study combines a mathematical model with experimental data analysis, using the Stribeck curve and Non-linear Least Square method for Parameter Identification. The purpose of the study is to improve the accuracy of the model and enhance the performance of robotic manipulators. The LuGre model is chosen for its ability to capture the nonlinear behavior of friction, which is a significant source of error in robot control systems. The effectiveness of the proposed representation is evaluated by comparing the simulation results of the dynamic model with experimental data obtained from a prototype. The results indicate that the model accurately captures the nonlinear behavior of friction, and the proposed approach can be used to develop more accurate models for control purposes.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic Model of a Robotic Manipulator with One Degree of Freedom with Friction Component

Luz

Balthazar

Ribeiro

et al. 2023

IJRCS

View full text Add to dashboard Cite

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Positioning Control of Robotic Manipulators Subject to Excitation from Non-Ideal Sources

et al. 2023

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The present work proposes the use of a hybrid controller combining concepts of a PID controller with LQR and a feedforward gain to control the positioning of a 2 DOF robotic arm with flexible joints subject to non-ideal excitations. To characterize the performance of the controls, two cases were studied. The first case considered the positioning control of the two links in fixed positions, while the second case considered the situation in which the second link is in rotational movement and the first one stays in a fixed position, representing a system with a non-ideal excitation source. In addition to the second case, the sensitivity of the proposed controls for changes in the length and mass of the second link in the rotational movement was analyzed. The results of the simulations showed the effectiveness of the controls, demonstrating that the PID control combined with feedforward gain provides the lowest error for both cases studied; however, it is sensitive to variations in the mass of the second link, in the case of rotational movements. The numerical results also revealed the effectiveness of the PD control obtained by LQR, presenting results similar to the PID control combined with feedforward gain, demonstrating the importance of the optimal control design.

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A Hybrid PID-LQR Control Applied in Positioning Control of Robotic Manipulators Subject to Excitation from Non-ideal Sources

Cited by 2 publications

References 13 publications

Dynamic Model of a Robotic Manipulator with One Degree of Freedom with Friction Component

Dynamic Model of a Robotic Manipulator with One Degree of Freedom with Friction Component

Positioning Control of Robotic Manipulators Subject to Excitation from Non-Ideal Sources

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