Robust control of a robot manipulators using fractional order lag compensator
Апстракт
In this paper a fractional order lag compensator is introduced for the control of robot
manipulators. Mathematical model of the robotic system is derived using the Rodriquez approach
which, due to a high gear ratio between the actuators and robot joints, reduces to a linear model.
Then, fractional order compensator is designed according to the symmetrical optimum principle.
Optimal values of controller parameters give good performance characteristics and high
robustness of the system, together with an iso-damping property of the closed loop reference
response. The effectiveness of the proposed method is illustrated through the control simulation
of three degrees of freedom robot manipulator.
Кључне речи:
robust control / robot manipulator / fractional-order lead/lag compensator / symmetrical optimum / iso-damping propertyИзвор:
Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c, 2019Издавач:
- Beograd : Srpsko društvo za mehaniku
Финансирање / пројекти:
- Повећање енергетске ефикасности ХЕ и ТЕ ЕПС-а развојем технологије и уређаја енергетске електронике за регулацију и аутоматизацију (RS-MESTD-Technological Development (TD or TR)-33020)
- Одрживост и унапређење машинских система у енергетици и транспорту применом форензичког инжењерства, еко и робуст дизајна (RS-MESTD-Technological Development (TD or TR)-35006)
- Интелигентни системи управљања климатизације у циљу постизања енергетски ефикасних режима у сложеним условима експлоатације (RS-MESTD-Technological Development (TD or TR)-33047)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Mandić, Petar AU - Lazarević, Mihailo AU - Šekara, Tomislav AU - Bošković, Marko AU - Maione, Guido PY - 2019 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4103 AB - In this paper a fractional order lag compensator is introduced for the control of robot manipulators. Mathematical model of the robotic system is derived using the Rodriquez approach which, due to a high gear ratio between the actuators and robot joints, reduces to a linear model. Then, fractional order compensator is designed according to the symmetrical optimum principle. Optimal values of controller parameters give good performance characteristics and high robustness of the system, together with an iso-damping property of the closed loop reference response. The effectiveness of the proposed method is illustrated through the control simulation of three degrees of freedom robot manipulator. PB - Beograd : Srpsko društvo za mehaniku C3 - Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c T1 - Robust control of a robot manipulators using fractional order lag compensator UR - https://hdl.handle.net/21.15107/rcub_machinery_4103 ER -
@conference{ author = "Mandić, Petar and Lazarević, Mihailo and Šekara, Tomislav and Bošković, Marko and Maione, Guido", year = "2019", abstract = "In this paper a fractional order lag compensator is introduced for the control of robot manipulators. Mathematical model of the robotic system is derived using the Rodriquez approach which, due to a high gear ratio between the actuators and robot joints, reduces to a linear model. Then, fractional order compensator is designed according to the symmetrical optimum principle. Optimal values of controller parameters give good performance characteristics and high robustness of the system, together with an iso-damping property of the closed loop reference response. The effectiveness of the proposed method is illustrated through the control simulation of three degrees of freedom robot manipulator.", publisher = "Beograd : Srpsko društvo za mehaniku", journal = "Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c", title = "Robust control of a robot manipulators using fractional order lag compensator", url = "https://hdl.handle.net/21.15107/rcub_machinery_4103" }
Mandić, P., Lazarević, M., Šekara, T., Bošković, M.,& Maione, G.. (2019). Robust control of a robot manipulators using fractional order lag compensator. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c Beograd : Srpsko društvo za mehaniku.. https://hdl.handle.net/21.15107/rcub_machinery_4103
Mandić P, Lazarević M, Šekara T, Bošković M, Maione G. Robust control of a robot manipulators using fractional order lag compensator. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c. 2019;. https://hdl.handle.net/21.15107/rcub_machinery_4103 .
Mandić, Petar, Lazarević, Mihailo, Šekara, Tomislav, Bošković, Marko, Maione, Guido, "Robust control of a robot manipulators using fractional order lag compensator" in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c (2019), https://hdl.handle.net/21.15107/rcub_machinery_4103 .