Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload

“…Simulation results show better performance than integer order PID controller. Moreover, in [26,27,28] fractional PID controller with output feedback has been used for robotic manipulators and their robustness has been verified.…”

Section: Fractional Order Based Computed Torque Control Of 2-link Robmentioning

confidence: 99%

Fractional Order Based Computed Torque Control of 2-link Robotic Arm

Anwaar¹,

Yin²,

Ijaz³

et al. 2018

Adv. Sci. Technol. Res. J.

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The paper proposes the application of fractional order controller in position tracking control of 2-link nonlinear robotic arm. The nonlinear system dynamics is linearized using inverse dynamics of the model and fractional order PID controller is designed to deal with remaining tracking errors. The optimal values of controller parameters are calculated using Nelder-Mead optimization technique based on desired design criteria. The objective function is designed using weighted sum approach on each performance specification based on transient domain parameters. It can be seen from simulation results that fractional order controller together with computed torque controller improved tracking performance of proposed system as compared to PID controller used in the outer loop. Moreover, the robustness of proposed scheme is checked by applying the disturbance signal at control input channels of 2-link nonlinear robotic arm links.

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“…Since the tuning rules are derived for SISO systems, their applications to “true” MIMO systems are ineffective. Furthermore, in the case of MIMO systems, the number of PID parameters tends to grow large . Trial and error techniques are thus inadequate to derive a good compromise between controller performance and robustness.…”

Section: Introductionmentioning

confidence: 99%

Multidimensional Taylor network adaptive control for MIMO time‐varying uncertain nonlinear systems with noises

Zhang

Yan

2019

Intl J Robust & Nonlinear

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Summary In this paper, an adaptive control approach based on the multidimensional Taylor network (MTN) is proposed here for the real‐time tracking control of multiple‐input–multiple‐output (MIMO) time‐varying uncertain nonlinear systems with noises. Two MTNs are used to formulate the optimum control and adaptive filtering approaches. The feed‐forward MTN controller (MTNC) is developed to realize the precise tracking control. The closed‐loop errors between the filtered outputs and expected values are directly chosen as the MTNC's inputs. A valid initial value selection scheme for the weights of the MTNC, which can ensure the initial stability of adaptive process, is introduced. The proposed MTNC can update its weights online according to errors caused by system's uncertain factors, based on stable learning rate. The resilient backpropagation algorithm and the adaptive variable step size algorithm via linear reinforcement are utilized to update the MTNC's weights. The MTN filter (MTNF) is developed to eliminate measurement noises and other stochastic factors. The proposed adaptive MTN filtering system possesses the distinctive properties of the Lyapunov theory–based adaptive filtering system and MTN. Lyapunov function of the filtering errors between the measured values and MTNF's outputs is defined. By properly choosing the weights update law in the Lyapunov sense, the MTNF's outputs can asymptotically converge to the desired signals. The design is independent of the stochastic properties of the input disturbances. Simulation of the MTN‐based control is conducted to test the effectiveness of the presented results.

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Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload

Cited by 120 publications

References 36 publications

Design of two-layered fractional order fuzzy logic controllers applied to robotic manipulator with variable payload

Design of two-layered fractional order fuzzy logic controllers applied to robotic manipulator with variable payload

Fractional Order Based Computed Torque Control of 2-link Robotic Arm

Multidimensional Taylor network adaptive control for MIMO time‐varying uncertain nonlinear systems with noises

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