Independent-joint Control of 5DOF Robotic Manipulators by Fractional-Order PI nu Controllers
Апстракт
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.
Извор:
2021 29th Mediterranean Conference on Control and Automation (Med), 2021, 403-408Издавач:
- IEEE, New York
Финансирање / пројекти:
- COST Action [CA15225]
- COST (European Cooperation in Science and Technology)
DOI: 10.1109/MED51440.2021.9480166
ISSN: 2325-369X
WoS: 000811823100061
Scopus: 2-s2.0-85113706092
Колекције
Институција/група
Mašinski fakultetTY - 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 . .