Robust Control Based Stability Analysis and Trajectory Tracking of Triple Link Robot Manipulator

Gupta, Mukul; Kumar, Roushan; Verma, Varnita; Sharma, Abhinav

doi:10.18280/jesa.540414

Cited by 9 publications

(3 citation statements)

References 22 publications

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“…𝜎 ̅ (𝐷(𝑗𝑤)𝐹 𝐿 (𝑃, 𝐾)𝐷 −1 (jw)) (13) at each frequency is obtained. The magnitude of each element of D (jw) is to be fitted to a stable and minimum phase transfer function D (s).…”

Section: Figure 2 Triple Inverted Pendulum Control Systemmentioning

confidence: 99%

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Balancing of Robustness and Performance for Triple Inverted Pendulum Using μ-Synthesis and Gazelle Optimization

Shafeek,

Ali

2024

JESA

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The control of systems like: bipedal locomotion robots, space launch vehicle, offshore wind turbines, and active vibration control systems in buildings and bridges, have to ensure, besides stability and accuracy, the system's insensitivity to parameters' uncertainties, unmodeled dynamics, external disturbances, and measurements noise. In such systems analysis and controller design, a triple inverted pendulum can be used as a benchmark to mimic systems characteristics and effect of different sources of uncertainty. μ-synthesis is a robust control method which seeks a controller that minimizes the robust H-infinity performance of the closed-loop system through D-K iteration. The D-K iteration is not guaranteed to converge to a global, or even local minimum. Hence this paper proposes the enhancement of controller design by applying gazelle optimization technique to shape the fictitious output by determining the parameters of the performance weighting matrix. The incorporation of optimization with controller design allows avoiding getting unnecessarily conservative system at the expense of performance. The developed control system is simulated using Matlab R2023b for different scenarios of system uncertainty. The results show that the requirements of robustness and performance can be balanced through the right choice of cost function. The robust performance measure obtained is 0.6432 which leads to good response for both stabilization and tracking in the presence of uncertainty. The results also show that even the baseline μ-synthesis design achieves higher robust stability margin about 2.818, the proposed optimized method stabilizes the system with overshoot been reduced by 67.65% and steady state error reduced by 5.69% without sacrificing robustness.

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Section: Figure 2 Triple Inverted Pendulum Control Systemmentioning

confidence: 99%

“…While the studies [10][11][12] considered the disturbance effect only. Gupta et al [13] derived a robust state feedback control law to overcome nonlinearities, disturbances, and noise hence, didn't consider the effect of unmodeled dynamics of actuators at high frequencies.…”

Section: Introductionmentioning

confidence: 99%

Balancing of Robustness and Performance for Triple Inverted Pendulum Using μ-Synthesis and Gazelle Optimization

Shafeek,

Ali

2024

JESA

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“…A kinematic and dynamic model for an excavator is necessary for the design of the controller. This model can be obtained by: applying the Newton-Euler equations for each link of the mechanism successively [1,2], where the motion equation is derived; or by integration of the soil-tool interaction model [3,4], in order to take into account, the reaction force of the soils.…”

Section: Introductionmentioning

confidence: 99%

Modeling of an Automatic Excavation Mechanism for a Parallelepiped Foundation - Application in Building Construction Preparation

Bendriss¹,

Aidaoui²,

Abbès³

2022

JESA

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Foundation excavation and general earthworks are activities that involve the machine operator in a series of repetitive and tedious operations, suggesting opportunities for automation through by the introduction of robotic technologies with subsequent improvements in the design and machine use, especially, in dangerous environments working. Automation of excavation operations can be realized by an automatically controlled excavator system that is able to perform autonomously a planned digging work. In this study, a modeling of an excavation mechanism has been represented, where the purpose is to automatically excavate a parallelepiped-shaped foundation. From existing excavation machinery in the industry, the manipulator arm of a backhoe was chosen to do the modeling. Starting from the basic input geometric parameters of the foundation to be excavated, the system gives as outputs results: A simulation of the various mechanism components movement, in addition to the automatic excavation trajectory of the parallelepiped foundation. Finally, from the soils properties of the western region of Algeria that they were measured experimentally, a resistance simulation of the various components of the mechanism was carried, to test the reliability of the mechanism in terms of deformation and Von Mises stress.

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A Comprehensive Review of Categorization and Perspectives on State-of-Charge Estimation Using Deep Learning Methods for Electric Transportation

Das,

Kumar

2023

Wireless Pers Commun

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Robust Control Based Stability Analysis and Trajectory Tracking of Triple Link Robot Manipulator

Cited by 9 publications

References 22 publications

Balancing of Robustness and Performance for Triple Inverted Pendulum Using μ-Synthesis and Gazelle Optimization

Balancing of Robustness and Performance for Triple Inverted Pendulum Using μ-Synthesis and Gazelle Optimization

Modeling of an Automatic Excavation Mechanism for a Parallelepiped Foundation - Application in Building Construction Preparation

A Comprehensive Review of Categorization and Perspectives on State-of-Charge Estimation Using Deep Learning Methods for Electric Transportation

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