TY  - CONF
AU  - Lino, Paolo
AU  - Konigsmarkova, Jana
AU  - Maione, Guido
AU  - Lazarević, Mihailo
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3558
AB  - This paper describes a design procedure of fractional-order controllers for independent-joint control of a 5DOF robotic manipulator. The control scheme of each joint includes a double loop involving fractional-order PI. controllers for both position and speed control with feed-forward action. The design approach is general and consists in closed-form tuning formulas, which directly give the controllers parameters depending on specifications defined in the frequency domain. Preliminary tests are performed on a detailed simulation model of the manipulator to evaluate the effectiveness of the proposed control scheme. Better performance with respect to standard PID controllers is obtained, even in presence of disturbances and plant nonlinearities.
PB  - IEEE, New York
C3  - 2021 29th Mediterranean Conference on Control and Automation (Med)
T1  - Independent-joint Control of 5DOF Robotic Manipulators by Fractional-Order PI nu Controllers
EP  - 408
SP  - 403
DO  - 10.1109/MED51440.2021.9480166
ER  - 

@conference{
author = "Lino, Paolo and Konigsmarkova, Jana and Maione, Guido and Lazarević, Mihailo",
year = "2021",
abstract = "This paper describes a design procedure of fractional-order controllers for independent-joint control of a 5DOF robotic manipulator. The control scheme of each joint includes a double loop involving fractional-order PI. controllers for both position and speed control with feed-forward action. The design approach is general and consists in closed-form tuning formulas, which directly give the controllers parameters depending on specifications defined in the frequency domain. Preliminary tests are performed on a detailed simulation model of the manipulator to evaluate the effectiveness of the proposed control scheme. Better performance with respect to standard PID controllers is obtained, even in presence of disturbances and plant nonlinearities.",
publisher = "IEEE, New York",
journal = "2021 29th Mediterranean Conference on Control and Automation (Med)",
title = "Independent-joint Control of 5DOF Robotic Manipulators by Fractional-Order PI nu Controllers",
pages = "408-403",
doi = "10.1109/MED51440.2021.9480166"
}

Lino, P., Konigsmarkova, J., Maione, G.,& Lazarević, M.. (2021). Independent-joint Control of 5DOF Robotic Manipulators by Fractional-Order PI nu Controllers. in 2021 29th Mediterranean Conference on Control and Automation (Med)
IEEE, New York., 403-408.
https://doi.org/10.1109/MED51440.2021.9480166

Lino P, Konigsmarkova J, Maione G, Lazarević M. Independent-joint Control of 5DOF Robotic Manipulators by Fractional-Order PI nu Controllers. in 2021 29th Mediterranean Conference on Control and Automation (Med). 2021;:403-408.
doi:10.1109/MED51440.2021.9480166 .

Lino, Paolo, Konigsmarkova, Jana, Maione, Guido, Lazarević, Mihailo, "Independent-joint Control of 5DOF Robotic Manipulators by Fractional-Order PI nu Controllers" in 2021 29th Mediterranean Conference on Control and Automation (Med) (2021):403-408,
https://doi.org/10.1109/MED51440.2021.9480166 . .