Stable fuzzy self-tuning PID control of robot manipulators

Meza, José Luis; Santibáñez, Víctor; Soto, Rogelio; Llama, Miguel A.

doi:10.1109/icsmc.2009.5346112

Cited by 14 publications

(6 citation statements)

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“…The experimental results show the usefulness of the proposed approach. This paper extends our earlier work [26] with more details on the stability analysis, 0278-0046/$26.00 © 2011 IEEE giving a more comprehensive description on the stability proof and extending the analysis from local to semiglobal stability. Furthermore, experimental results are complemented with the variable gain graphics showing their temporal evolutions.…”

Section: Introductionmentioning

confidence: 92%

“…The stability analysis is based on a preliminary version described in [26]. The semiglobal stability is established in the sense that the region of attraction can be arbitrarily enlarged with an adequate selection of the controller gains.…”

Section: Semiglobal Asymptotic Stability Analysismentioning

confidence: 99%

“…Furthermore, experimental results are complemented with the variable gain graphics showing their temporal evolutions. In order to make easier the comprehension of the theoretical analysis, it is necessary to keep some basic concepts of [26] in this paper.…”

Section: Introductionmentioning

confidence: 99%

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Fuzzy Self-Tuning PID Semiglobal Regulator for Robot Manipulators

Meza

Santibáñez

Soto

et al. 2012

IEEE Trans. Ind. Electron.

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151

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In this paper, we present a semiglobal asymptotic stability analysis via Lyapunov theory for a new proportionalintegral-derivative (PID) controller control scheme, proposed in this work, which is based on a fuzzy system for tuning the PID gains for robot manipulators. PID controller is a well-known set point control strategy for industrial manipulators which ensures semiglobal asymptotic stability for fixed symmetric positive definite (proportional, integral, and derivative) gain matrices. We show that semiglobal asymptotic stability attribute also holds for a class of gain matrices depending on the manipulator states. This feature increases the potential of the PID control scheme to improve the performance of the transient response and handle practical constraints in actual robots such as presence of actuators with limited torque capabilities. We illustrate this potential by means of a fuzzy self-tuning algorithm to select the proportional, integral, and derivative gains according to the actual state of a robotic manipulator. To the best of the authors' knowledge, our proposal of a fuzzy self-tuning PID regulator for robot manipulators is the first one with a semiglobal asymptotic stability proof. Real-time experimental results on a two-degree-of-freedom robot arm show the usefulness of the proposed approach.

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Section: Introductionmentioning

confidence: 92%

Section: Semiglobal Asymptotic Stability Analysismentioning

confidence: 99%

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Fuzzy Self-Tuning PID Semiglobal Regulator for Robot Manipulators

Meza

Santibáñez

Soto

et al. 2012

IEEE Trans. Ind. Electron.

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151

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“…Thus, there remains to explore regressor-free smooth PID-like control schemes with time-varying feedback gains for tracking of robot manipulators, that include formal stability results. In this sense, nonlinear and saturated PID has been proposed recently which includes a fuzzy-based self-tuning mechanism for semi-global stabilization in the sense of Lyapunov, [8], [9]. The self-tuning controllers based on fuzzy and neural networks stand out as a promising alternative because of the ability to input knowledge-based reasoning and experience from users, then deriving an in tuitive tuning policy seems feasible without the involved of other approaches, but aimed at keeping simple PID-Iike control structures, [12], [13].…”

Section: Background On Self-tuning Pid-l1ke Controlmentioning

confidence: 99%

Regressor-free tracking of robots with self-tuning PD-like control

Armendariz

Parra-Vega

García-Rodríguez

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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The success in real applications of PID regulator has thought us that it is desirable a simple controller with clear and intuitive policy for tuning of feedback gains, as well as minimum or null dependency on the dynamics of the system. In this paper, theoretical and experimental results of PD-like structures for tracking of robots subj ect to friction and disturbances is presented. The salient feature of our proposal is a neuro-fuzzy schemes used to a single gain that multiplies the regressor-free PID structure. This bounded time varying gain plays the role of enforcing a dissipative mapping to obtain exponential stability. Stability is obtained in the sense of Lyapunov and experimental study is presented and discussed, which highlights the viability and feasibility for real applications.

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“…Los controladores auto sintonizables (self tuning controllers) existen desde hace tiempo con diferentes concepciones Åström and Wittenmark (1973), reglas de sintonía en función del error de posición con lógica difusa y redes neuronales para las ganancias proporcional K p y derivativa K v se encuentran en Llama et al (2000Llama et al ( , 2001; Santibáñez et al (2002Santibáñez et al ( , 2004; Meza et al (2009) ;Llama et al (2010); Meza et al (2012); Armendariz et al (2012). El concepto de ganancias variables se discute en Salas and Llama (2010); Salas et al (2012bSalas et al ( , 2013.…”

Section: Introductionunclassified

Regulación Saturada con Ganancia Variable Derivativa de Robots Manipuladores

Limón-Díaz

Reyes-Cortés

González-Galván

2017

Revista Iberoamericana de Automática e Informática Industrial R

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ResumenEn este trabajo se presenta una familia grande de reguladores saturados tipo hiperbólicos para robots manipuladores. La propuesta considera a la ganancia proporcional constante y a la ganancia derivativa variable con sintonía automática definida en función del error de posición, velocidad de movimiento y un factor de inyección de amortiguamiento para modificar la velocidad de respuesta del robot. La acción de control derivativa con ganancia variable permite reducir sobreimpulsos, oscilaciones y rizo, tal que alcance el estado estacionario en forma suave. Asimismo, se presenta la propuesta de una función estricta de Lyapunov que permite demostrar la estabilidad asintótica global de la ecuación en lazo cerrado. Para mostrar el desempeño y funcionalidad de la familia propuesta de esquemas de control, un análisis comparativo experimental fue desarrollado entre siete estructuras de control, cinco reguladores pertenecen a la familia propuesta, y dos algoritmos de control bien conocidos como son el proporcional derivativo (PD) y tangente hiperbólico (Tanh). Los resultados experimentales fueron obtenidos con un robot manipulador de transmisión directa de tres grados de libertad. Palabras Clave:Regulador, Función de saturación, Ganancia Variable, Manipulador robótico, Algoritmos de control. IntroducciónActualmente el control de robots manipuladores representa un tema clave y estratégico para México y en general para Iberoamérica. Los robots manipuladores se han convertido en herramientas indispensables para un amplio sector de la sociedad, como han sido los casos de la industria, aplicaciones especiales y médicas: cirugías robotizadas, fisioterapia, rehabilitación, asistencia robotizada a personas con capacidades diferenciadas, entre otras más.Para que un robot manipulador realice correctamente una tarea encomendada, se requiere de un algoritmo de control de alto desempeño. Por lo tanto, el diseño de algoritmos de control se ha convertido en una actividad científica permanente y sistemática con la finalidad de proponer nuevos esquemas con alto desempeño y prestaciones adecuadas para una correcta ejecución en la tarea programada.La técnica de moldeo de energía (energy shaping) propuesta por Takegaki and Arimoto (1981) ha sido utilizada por diversos * Autor en correspondencia Correos electrónicos: miangellim@hotmail.com (Miguel A. Limón-Díaz ), fernando.reyes@correo.buap.mx (Fernando Reyes-Cortés), egonzale@uaslp.mx (Emilio J. González-Galván) investigadores; esta metodología utiliza el teorema de invarianza de LaSalle para demostrar estabilidad asintótica. Más tarde Tomei (1991) perfecciona el método de Takegaki-Arimoto sin usar LaSalle, proponiendo una función estricta de Lyapunov para estudiar la estabilidad asintótica del control PD con compensación de gravedad. En esta dirección, es importante resaltar particularmente el trabajo de Santibáñez and Kelly (1997) quienes generalizaron la función estricta propuesta en Whitcomb et al. (1993) para el caso de regulación, así como su extensión al problema de control ...

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Stable fuzzy self-tuning PID control of robot manipulators

Cited by 14 publications

References 14 publications

Fuzzy Self-Tuning PID Semiglobal Regulator for Robot Manipulators

Fuzzy Self-Tuning PID Semiglobal Regulator for Robot Manipulators

Regressor-free tracking of robots with self-tuning PD-like control

Regulación Saturada con Ganancia Variable Derivativa de Robots Manipuladores

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