Fractional-order internal model control algorithm based on the force/position control structure of redundant actuation parallel robot

Abstract

This article proposes a new control structure for the complex redundant actuation parallel robot based on force/position hybrid control structure. The traditional proportional–integral–derivative control method, integer-order internal model control method and fractional-filter internal model control–proportional–derivative control method are used in the position structure of force/position hybrid control. The fractional-filter internal model control–proportional–derivative control method is used in the position loop of the permanent magnet synchronous motor to reduce the position error. A fractional-order theory with the internal model control method is used in redundant actuation force control structure, which can improve the control precision of the driving force of the parallel robot. The Admas/Matlab simulation results show that the proposed method outperforms other methods and can obtain good robustness and tracking performance.

Multi-target ranging technology based on fast steering mirror

“…This produces a control signal 𝑃 for the reflector's position, which is converted into a voltage signal 𝑈 to control the voice coil motor through the motor driver. This enables the motor to drive the reflector's rotation, and real-time feedback on the reflector's deflection angle through the position sensor is used to achieve closed-loop control of the reflector's angular position [4].…”

Modified Cascade Controller Design for Unstable Processes With Large Dead Time

“…The advantages of controller design with the combination of fractional order calculation and the cascade controller design are reported in the recent research. The IMC controller was also modified with fractional calculus and the improved response was obtained from Second-Order plus Dead Time (SOPDT) processes in [43][44][45][46][47]. Based on suggestion from the literature, series cascade control system is designed for an unstable system with a substantial dead time.…”