Fractional order PID for tracking control of a parallel robotic manipulator type delta

Ángel, Leopoldo Armesto; Viola, Jairo

doi:10.1016/j.isatra.2018.04.010

Cited by 99 publications

(63 citation statements)

References 9 publications

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“…∈ IR 9 within the system dynamics in Eq. (12) as follows: χ χ χ e = F (χ χ χ e , U) + Jϑ ϑ ϑ + Zα α α (15) The influence of the parametric deviation is weighted by Z ∈ IR 18×9 that contains the partial derivative of the function F (χ χ χ e , U) w.r.t. the corresponding parameter, such that:…”

Section: Model Extension: Augmented State Representationmentioning

confidence: 99%

“…An interesting feature of this concept is the enhanced shape adaptability similar to that of snake-like amphibious robots [10], [11], and to that of the serial manipulator robots [12], [13]. Parallel robots have been recently integrated to aerial robots ( [14], [15]). Inspired on the advantages of these kind of manipulators, the authors of [16] propose an aerial system having three quadrotors acting as the actuators.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Nonlinear Control of a Multilink Aerial System and ASEKF-Based Disturbances Compensation

Castillo-Zamora

Escareño

Boussaada

et al. 2021

IEEE Trans. Aerosp. Electron. Syst.

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The actual paper presents the modeling and control of a multi-link unmanned aerial system whose dynamics is computed by means of the Euler-Lagrange energy-based approach. The aforementioned system is subjected to lumped disturbances which comprise external disturbances and parametric uncertainties. An Augmented-State Extended Kalman Filter intended to estimate endogenous and exogenous uncertainties is conceived and trajectory-tracking controller fulfilling Lyapunov asymptotic stability is synthesized. A simulation stage is conducted to validate the effectiveness of the proposal.

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Section: Model Extension: Augmented State Representationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Nonlinear Control of a Multilink Aerial System and ASEKF-Based Disturbances Compensation

Castillo-Zamora

Escareño

Boussaada

et al. 2021

IEEE Trans. Aerosp. Electron. Syst.

View full text Add to dashboard Cite

show abstract

“…The most widely used nonlinear and powerful controller used for almost all schemes for robot control in robot manipulators is Computed Torque Control (CTC) [13]. It has a special application on the different nonlinear systems based on feedback linearization by the use of nonlinear feedback law it would able to compute required torque in the arm [15][16][17][18]. It performs significantly well when all dynamic and physical parameter of the system is known [19][20][21][22][23].…”

Section: Control: Computed Torque Controller Analysismentioning

confidence: 99%

“…From the above analysis illustrated in Table 3 based on SS and RMS Error the case 1 is considered as the best tuned PD-CTC controller with Kp and Kd valued as 360 and 60 respectively. The best case of PD-CTC controller case 1 is compared with the tuned PD and PID controller [8,17,18]. The trajectory tracking of the PD-CTC, PD and PID controller for step trajectory can be seen in Figure 5.…”

Section: Case 3: Kd =10 Kp =10mentioning

confidence: 99%

Performance estimation of computed torque control for surgical robot application

Verma

Gupta

et al. 2020

JMES

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In the current paradigm, the development in robotic technology has a huge impact to revolutionize the medical domain. Surgical robots have greater advantages over surgeon such as reduced operating time, reduced tremor, less blood loss, and high dexterity. To perform different operations during surgery a base robot is required with the task-specific end effector. In this paper, the selective compliant assembly robot arm (SCARA) has been considered as the base robot and the complete mathematical modeling of the robot is illustrated. The equation of Kinematics is derived from the D-H notation. SCARA dynamic model is derived from Euler Lagrange. In order to achieve trajectory tracking the Computed Toque Control technique (CTC) applied to the SCARA manipulator. The performance of the CTC technique for trajectory tracking of each joint of the SCARA robot has evaluated in contrast with tuned PD and PID controller. The simulation results were discussed and verified using MATLAB simulation software.

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“…For a 2-DOF 2PRP-PPR parallel manipulator, Santhakumar Mohan [29] proposed a robust cascaded control scheme for the end-effector pose error correction in trajectory tracking caused by mechanical inaccuracies. Angel et al [30] applied a computed torque control strategy with a fractional order PID method. This strategy shows a robust and active disturbance rejection compared to that with the integer order PID method.…”

Section: Introductionmentioning

confidence: 99%

Compound Impedance Control of a Hydraulic Driven Parallel 3UPS/S Manipulator

Wang

Cui

et al. 2020

Chin. J. Mech. Eng.

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The hydraulic parallel manipulator combines the high-power density of the hydraulic system and high rigidity of the parallel mechanism with excellent load-carrying capacity. However, the high-precision trajectory tracking control of the hydraulic parallel manipulator is challenged by the coupling dynamics of the parallel mechanism and the high nonlinearities of the hydraulic system. In this study, the trajectory control of a 3-DOF symmetric spherical parallel 3UPS/S manipulator is evaluated. Focusing on the highly coupling and nonlinear system dynamics, a compound impedance control method for a hydraulic driven parallel manipulator is proposed, which combines impedance control with the spatial motion characteristics of a parallel manipulator. The control strategy is divided into the inner and outer loops. The inner loop controls the impedance of the actuator in the joint space, and the outer loop controls the impedance of the entire platform in the task space to compensate the coupling of the actuators and improve the tracking accuracy of the moving platform. Compound impedance control does not require force or pressure sensors and is less dependent on modeling precision. The experimental results show that the compound impedance control effectively improves the tracking accuracy of the moving platform. This research proposes a compound impedance control strategy for a 3-DOF hydraulic parallel manipulator, which has high tracking precision with a simple and cheap system configuration.

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Fractional order PID for tracking control of a parallel robotic manipulator type delta

Cited by 99 publications

References 9 publications

Nonlinear Control of a Multilink Aerial System and ASEKF-Based Disturbances Compensation

Nonlinear Control of a Multilink Aerial System and ASEKF-Based Disturbances Compensation

Performance estimation of computed torque control for surgical robot application

Compound Impedance Control of a Hydraulic Driven Parallel 3UPS/S Manipulator

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