Linear PID Composite Controller and its Tuning for Flexible Link Robots

Cheong, Joono; Lee, Seungjin

doi:10.1177/1077546307073130

Cited by 17 publications

(7 citation statements)

References 16 publications

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“…An electromechanical actuator at the hub of the system produces rotational motion of the manipulator, and fast motion-induced vibration propagates along the flexible beam to the payload at the end-point of the beam. The control strategy for the flexible manipulator system can be realised through conventional control [48], [49] or intelligent control [50], [51], [52], [53] approaches. Fuzzy logic control (FLC) is one type of intelligent control approaches that increasingly attracts interest of researchers.…”

Section: Referencesmentioning

confidence: 99%

Novel metaheuristic hybrid spiral-dynamic bacteria-chemotaxis algorithms for global optimisation

Nasir

Tokhi

2015

Applied Soft Computing

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This paper presents hybrid spiral-dynamic bacteria-chemotaxis algorithms for global optimisation and their application to control of a flexible manipulator system. Spiral dynamic algorithm (SDA) has faster convergence speed and good exploitation strategy. However, the incorporation of constant radius and angular displacement in its spiral model causes the exploration strategy to be less effective hence resulting in low accurate solution. Bacteria chemotaxis on the other hand, is the most prominent strategy in bacterial foraging algorithm. However, the incorporation of a constant step-size for the bacteria movement affects the algorithm performance. Defining a large step-size results in faster convergence speed but produces low accuracy while defining a small step-size gives high accuracy but produces slower convergence speed. The hybrid algorithms proposed in this paper synergise SDA and bacteria chemotaxis and thus introduce more effective exploration strategy leading to higher accuracy, faster convergence speed and low computation time. The proposed algorithms are tested with several benchmark functions and statistically analysed via nonparametric Friedman and Wilcoxon signed rank tests as well as parametric t-test in comparison to their predecessor algorithms. Moreover, they are used to optimise hybrid Proportional-Derivative-like fuzzy-logic controller for position tracking of a flexible manipulator system. The results show that the proposed algorithms significantly improve both convergence speed as well as fitness accuracy and result in better system response in controlling the flexible manipulator.

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Section: Referencesmentioning

confidence: 99%

Novel metaheuristic hybrid spiral-dynamic bacteria-chemotaxis algorithms for global optimisation

Nasir

Tokhi

2015

Applied Soft Computing

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“…For linear systems, there exists a broad theory to tune controllers [19], [20] and to use those techniques it is required to linearize the robot dynamics [21]. One of the most popular controllers and wide used is the PID control [22]- [24] which has been used to develop different tuning methods [7], [25], [26] using robot dynamics bounds. Non-linear controllers like sliding mode control require knowledge of the upper bound of the disturbance to compensate it [10], [27], [28].…”

Section: Introductionmentioning

confidence: 99%

A Novel Tuning Method of PD With Gravity Compensation Controller for Robot Manipulators

2020

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Proportional-Derivative (PD) control is one of the most widely used controllers, especially for robot manipulators. When the robot presents gravitational terms, PD control cannot guarantee position convergence, therefore compensation is required such as PD with gravity compensation, PD+G. PD+G control requires knowledge of the gravitational term and there exist several results that prove global asymptotic stability. However, there is no method to tune the PD gains. In this work, a novel method to tune the PD+G controller is proposed. The tuning method is obtained using the global asymptotic stability result of the La Salle's theorem and robot dynamics properties. A comparison between previous works is realized via simulations and experiments to verify our approach. The results show fast and smooth convergence to the desired reference without overshoots.

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“…In [6], an adaptive repetitive learning control for trajectory tracking of uncertain robotic manipulators is presented. In [7], a linear PID composite controller based on the singular perturbation approach is presented for flexible robot systems with disturbance. A disturbance observer for the slow subsystem and a nodal feedback for the fast subsystem are used.…”

Section: Introductionmentioning

confidence: 99%

An intelligent motion control system for a macro-micro manipulator using fuzzy adaptive system

Sukanya¹,

Ragunathan

2013

2013 International Conference on Advanced Computing and Communication Systems

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A Macro-Micro manipulator is a complex plant with high nonlinearity, and the equations of motion of a Macro-micro manipulator have infinite dimensions. Hence, the control problems for a macro-micro manipulator are challenging tasks, seeking a control strategy which is independent of precise plant mathematical model is of practical meanings. In this paper a novel data-based fuzzy adaptive control strategy for a macro-micro manipulator is presented, and procedures for designing a fuzzy adaptive controller are described based on the collected experiment data. Good result is observed in the fuzzy adaptive control experiment of a macro-micro manipulator, the vibration suppression and precision positioning performance is achieved.

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Linear PID Composite Controller and its Tuning for Flexible Link Robots

Cited by 17 publications

References 16 publications

Novel metaheuristic hybrid spiral-dynamic bacteria-chemotaxis algorithms for global optimisation

Novel metaheuristic hybrid spiral-dynamic bacteria-chemotaxis algorithms for global optimisation

A Novel Tuning Method of PD With Gravity Compensation Controller for Robot Manipulators

An intelligent motion control system for a macro-micro manipulator using fuzzy adaptive system

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