Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator
Abstract
Motion control of robotic manipulators is frequently realized by independent control of the DC motors actuating robot joints. Namely, nonlinearities, coupling between actuators and other complex dynamics are neglected if high gear ratios between the actuators and robot joints are considered. This paper proposes a fractional-order lag network or a fractional-order PI controller to control the position of the actuators shafts. The introduced fractional compensators are designed by using the symmetrical optimum principle and by parameters optimization or by frequency-domain loop shaping, respectively. Simulation results and frequency response show effectiveness and robustness of the approach.
Keywords:
robust control / robotic manipulators / robot control / frequency response / fractional-order PI controller / Fractional-order lag compensatorSource:
IFAC PAPERSONLINE, 2020, 53, 2, 3669-3674Publisher:
- Elsevier, Amsterdam
Funding / projects:
- COST (European Cooperation in Science and Technology) [CA15225]
- Serbia-Italy bilateral project "Advanced Robust Fractional Order Control of Dynamical Systems: New Methods for Design and Realization ADFOCMEDER"
DOI: 10.1016/j.ifacol.2020.12.2050
ISSN: 2405-8963
WoS: 000652592500592
Scopus: 2-s2.0-85108120620
Collections
Institution/Community
Mašinski fakultetTY - CONF AU - Mandić, Petar AU - Lino, Paolo AU - Maione, Guido AU - Lazarević, Mihailo AU - Sekara, Tomislav B. PY - 2020 UR - https://machinery.mas.bg.ac.rs/handle/123456789/3348 AB - Motion control of robotic manipulators is frequently realized by independent control of the DC motors actuating robot joints. Namely, nonlinearities, coupling between actuators and other complex dynamics are neglected if high gear ratios between the actuators and robot joints are considered. This paper proposes a fractional-order lag network or a fractional-order PI controller to control the position of the actuators shafts. The introduced fractional compensators are designed by using the symmetrical optimum principle and by parameters optimization or by frequency-domain loop shaping, respectively. Simulation results and frequency response show effectiveness and robustness of the approach. PB - Elsevier, Amsterdam C3 - IFAC PAPERSONLINE T1 - Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator EP - 3674 IS - 2 SP - 3669 VL - 53 DO - 10.1016/j.ifacol.2020.12.2050 ER -
@conference{ author = "Mandić, Petar and Lino, Paolo and Maione, Guido and Lazarević, Mihailo and Sekara, Tomislav B.", year = "2020", abstract = "Motion control of robotic manipulators is frequently realized by independent control of the DC motors actuating robot joints. Namely, nonlinearities, coupling between actuators and other complex dynamics are neglected if high gear ratios between the actuators and robot joints are considered. This paper proposes a fractional-order lag network or a fractional-order PI controller to control the position of the actuators shafts. The introduced fractional compensators are designed by using the symmetrical optimum principle and by parameters optimization or by frequency-domain loop shaping, respectively. Simulation results and frequency response show effectiveness and robustness of the approach.", publisher = "Elsevier, Amsterdam", journal = "IFAC PAPERSONLINE", title = "Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator", pages = "3674-3669", number = "2", volume = "53", doi = "10.1016/j.ifacol.2020.12.2050" }
Mandić, P., Lino, P., Maione, G., Lazarević, M.,& Sekara, T. B.. (2020). Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator. in IFAC PAPERSONLINE Elsevier, Amsterdam., 53(2), 3669-3674. https://doi.org/10.1016/j.ifacol.2020.12.2050
Mandić P, Lino P, Maione G, Lazarević M, Sekara TB. Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator. in IFAC PAPERSONLINE. 2020;53(2):3669-3674. doi:10.1016/j.ifacol.2020.12.2050 .
Mandić, Petar, Lino, Paolo, Maione, Guido, Lazarević, Mihailo, Sekara, Tomislav B., "Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator" in IFAC PAPERSONLINE, 53, no. 2 (2020):3669-3674, https://doi.org/10.1016/j.ifacol.2020.12.2050 . .