Comparative study of Fractional Order Controllers for Three-link Robotic Manipulator System

Sau, Paresh Chandra

doi:10.1109/parc49193.2020.236669

Cited by 4 publications

(1 citation statement)

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“…V. Nguyen et al [24] proposed radial basic function neural networks based PID (APID-RBFNs), which is used in tracking task of two degree of freedom parallel manipulator. P. C. Sau [25] compared fuzzy fractional-order PID (FFOPID) controller and fractionalorder PID (FOPID) for the control system of three-arm manipulator. And the better tracking performance can be obtained by FFOPID.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Torque Feedforward based Optimal Fuzzy PD control of a High-Speed Parallel Manipulator

Lin

Cui

2021

jrc

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Dynamic modeling and control of high-speed parallel manipulators are of importance due to their industrial applications deployed in production lines. However, there are still a number of open problems, such as the development of a precise dynamic model to be used in the model-based control design. This paper presents a four-limb parallel manipulator with Schönflies motion and its simplified dynamic modeling process. Then, in order to fix the issue that computed torque method control (CTC) will spend a lot of time to calculate dynamic parameters in real-time, offline torque feedforwardbased PD (TFPD) control law is adopted in the control system. At the same time, fuzzy logic is also used to tune the gains of PD controller to adapt to the variation of external disturbance and compensate the un-modeled uncertainty. Additionally, bottom widths of membership functions of fuzzy controller are optimized by bat algorithm. Finally, three controllers of CTC, TFPD and bat algorithm-based torque feedforwad fuzzy PD controller (BA-TFFPD) are compared in trajectory tracking simulation. Fro the result, compared with TFPD and CTC, BA-TFFPD can lead faster transient response and lower tracking error, which prove the validity of BA-TFFPD.

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Section: Introductionmentioning

confidence: 99%