Nonlinear PID and feedforward control of robotic manipulators

Abdelhedi, Fatma; Bouteraa, Yassine; Chemori, Ahmed; Derbel, Nabil

doi:10.1109/sta.2014.7086798

Cited by 9 publications

(6 citation statements)

References 7 publications

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“…Secondly, the equilibrium of the traveling plate is analyzed. The motion equation of the traveling plate is given by [10] =̈ (9) where is Cartesian Jacobian of the robot and is a diagonal matrix whose elements are given by…”

Section: The Simplified Dynamic Model Of Delta/par4-like Robotmentioning

confidence: 99%

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Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot

Humaidi

Abdulkareem

2019

Journal of Control Science and Engineering

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This work presents the design of two control schemes for a Delta/Par4-like parallel robot: augmented PD (APD) controller and augmented nonlinear PD (ANPD) controller. The stability of parallel robot based on nonlinear PD controller has been analyzed and proved based on Lyapunov method. A comparison study between APD and ANPD controllers has been made in terms of performance and accuracy improvement of trajectory tracking. Also, another comparison study has been presented between augmented nonlinear PD (ANPD) controller and nonaugmented nonlinear PD (NANPD) controller in order to show the enhancement of introducing the augmented structure on dynamic performance and trajectory tracking accuracy. The effectiveness of augmented PD controllers (APD and ANPD) and nonaugmented nonlinear PD (NANPD) controller for the considered parallel robot are verified via simulation within the MATLAB environment.

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Section: The Simplified Dynamic Model Of Delta/par4-like Robotmentioning

confidence: 99%

“…Experimental results indicated that the nonlinear control method can achieve a superior performance [8]. Fatma et al designed nonlinear PID controller for trajectory tracking of a manipulator robot (SCARA) and developed a PID controller having high performances in terms of controllability and stability of manipulator [9].…”

Section: Introductionmentioning

confidence: 99%

Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot

Humaidi

Abdulkareem

2019

Journal of Control Science and Engineering

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“…For the past several years, researchers have proposed several kinds of manipulator controllers, such as feedforward and PID control [2], sliding mode control [3], adaptive robust control [4]. Among these methods, sliding mode control is proven to be straightforward to be applied in complex electromechanical system [5].…”

Section: Introductionmentioning

confidence: 99%

“…They need to be handled appropriately; otherwise, the tracking precision will deteriorate, especially when the manipulator is in operation with large acceleration [19]. A popular way is to introduce the feedforward term to compensate for the nonlinear dynamics and use the controller to suppress the uncertainties and disturbances [2]. As the feedforward structure is open-loop, this method is not sufficient enough when there are parametric uncertainties on the manipulator's dynamic model.…”

Section: Introductionmentioning

confidence: 99%

Feedback-based Digital Higher-order Terminal Sliding Mode for 6-DOF Industrial Manipulators

Kuang

Zhang

Sun

et al. 2021

Preprint

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The precise motion control of a multi-degree of freedom (DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel higher-order sliding mode controller in the discretetime form with time delay estimation is proposed in this paper. The dynamic model of the manipulator used in the design allows proper handling of nonlinearities, uncertainties and disturbances involved in the problem. Specifically, parametric uncertainties and disturbances are handled by the time delay estimation and the nonlinearity of the manipulator is addressed by the feedback structure of the controller. The combination of terminal sliding mode surface and higher-order control scheme in the controller guarantees a fast response with a small chattering amplitude. Moreover, the controller is designed with a modified sliding mode surface and variable-gain structure, so that the performance of the controller is further enhanced. We also analyse the condition to guarantee the stability of the closed-loop system in this paper. Finally, the simulation and experimental results prove that the proposed control scheme has a precise performance in a robot manipulator system.

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“…Therefore, designing an efficient controller for this system is a challenging task [1]. Despite the success of modern control theory, robot manipulator controllers still commonly employ classical proportional-derivative (PD) or proportional-integral-derivative (PID) algorithm [2][3][4][5]. To improve their performances, most of those controllers have been designed using linear or linearized models.…”

Section: Introductionmentioning

confidence: 99%

Whale optimizer algorithm to tune PID controller for the trajectory tracking control of robot manipulator

Loucif

Kechida

Sebbagh

2019

J Braz. Soc. Mech. Sci. Eng.

151

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In this work, we are interested to the PID control of nonlinear systems and more specially the control of a robot manipulator. The idea is to determine the optimal parameters (K p , K i and K d) of the controller using a novel algorithm of optimization called whale optimizer algorithm (WOA). To study the effectiveness of WOA-PID controller, its performance is compared with other controllers such as particle swarm optimization-PID (PSO-PID) and grey wolf optimizer-PID (GWO-PID). The model of robot manipulator and all controllers were tested using Simulink/MATLAB. Simulation results obtained clearly indicate the superiority of WOA-PID controller over the other controllers for trajectory tracking, better settling time, and ITAE errors.

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Nonlinear PID and feedforward control of robotic manipulators

Cited by 9 publications

References 7 publications

Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot

Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot

Feedback-based Digital Higher-order Terminal Sliding Mode for 6-DOF Industrial Manipulators

Whale optimizer algorithm to tune PID controller for the trajectory tracking control of robot manipulator

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