Robust PID Control for Robot Manipulators with Parametric Uncertainties
Апстракт
Most of the industrial robots use a classical PIDtype
controller for positioning tasks. A main reason for this is its
effectiveness in regulation tasks, simple linear structure, and
easy implementation. Moreover, it is well known that the
robustness properties of a PID controller make it an excellent
choice for set point control of robot manipulators. In this paper,
a robust PID controller is designed in order to cope with
modeling uncertainties and unmodelled dynamics. First,
dynamic model of robot manipulator is derived using the
Rodriquez approach. Then, a PID controller is applied to
feedback linearized robotic system in order to suppress constant
disturbance and achieve good set-point control. The proposed
controller contains one adjustable parameter lamda , which has a
direct influence on the time constant of the closed loop system.
By adjusting it, one can accomplish a compromise between the
robustness and performance indices. Using this algorithm,
simulation res...ults of a NeuroArm robotic manipulator executing
positioning tasks are shown to demonstrate the efficiency of the
proposed controller.
Кључне речи:
PID control / robust control / robot manipulatorИзвор:
Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018, Palić, Serbia, June 11 – 14, 2018., 2018, 1054-1059Издавач:
- Belgrade: ETRAN Society
- Belgrade : Academic Mind
Финансирање / пројекти:
- 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)
- 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)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Mandić, Petar AU - Lazarević, Mihailo AU - Šekara, Tomislav AU - Cvetković, Boško PY - 2018 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4137 AB - Most of the industrial robots use a classical PIDtype controller for positioning tasks. A main reason for this is its effectiveness in regulation tasks, simple linear structure, and easy implementation. Moreover, it is well known that the robustness properties of a PID controller make it an excellent choice for set point control of robot manipulators. In this paper, a robust PID controller is designed in order to cope with modeling uncertainties and unmodelled dynamics. First, dynamic model of robot manipulator is derived using the Rodriquez approach. Then, a PID controller is applied to feedback linearized robotic system in order to suppress constant disturbance and achieve good set-point control. The proposed controller contains one adjustable parameter lamda , which has a direct influence on the time constant of the closed loop system. By adjusting it, one can accomplish a compromise between the robustness and performance indices. Using this algorithm, simulation results of a NeuroArm robotic manipulator executing positioning tasks are shown to demonstrate the efficiency of the proposed controller. PB - Belgrade: ETRAN Society PB - Belgrade : Academic Mind C3 - Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018, Palić, Serbia, June 11 – 14, 2018. T1 - Robust PID Control for Robot Manipulators with Parametric Uncertainties EP - 1059 SP - 1054 UR - https://hdl.handle.net/21.15107/rcub_machinery_4137 ER -
@conference{ author = "Mandić, Petar and Lazarević, Mihailo and Šekara, Tomislav and Cvetković, Boško", year = "2018", abstract = "Most of the industrial robots use a classical PIDtype controller for positioning tasks. A main reason for this is its effectiveness in regulation tasks, simple linear structure, and easy implementation. Moreover, it is well known that the robustness properties of a PID controller make it an excellent choice for set point control of robot manipulators. In this paper, a robust PID controller is designed in order to cope with modeling uncertainties and unmodelled dynamics. First, dynamic model of robot manipulator is derived using the Rodriquez approach. Then, a PID controller is applied to feedback linearized robotic system in order to suppress constant disturbance and achieve good set-point control. The proposed controller contains one adjustable parameter lamda , which has a direct influence on the time constant of the closed loop system. By adjusting it, one can accomplish a compromise between the robustness and performance indices. Using this algorithm, simulation results of a NeuroArm robotic manipulator executing positioning tasks are shown to demonstrate the efficiency of the proposed controller.", publisher = "Belgrade: ETRAN Society, Belgrade : Academic Mind", journal = "Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018, Palić, Serbia, June 11 – 14, 2018.", title = "Robust PID Control for Robot Manipulators with Parametric Uncertainties", pages = "1059-1054", url = "https://hdl.handle.net/21.15107/rcub_machinery_4137" }
Mandić, P., Lazarević, M., Šekara, T.,& Cvetković, B.. (2018). Robust PID Control for Robot Manipulators with Parametric Uncertainties. in Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018, Palić, Serbia, June 11 – 14, 2018. Belgrade: ETRAN Society., 1054-1059. https://hdl.handle.net/21.15107/rcub_machinery_4137
Mandić P, Lazarević M, Šekara T, Cvetković B. Robust PID Control for Robot Manipulators with Parametric Uncertainties. in Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018, Palić, Serbia, June 11 – 14, 2018.. 2018;:1054-1059. https://hdl.handle.net/21.15107/rcub_machinery_4137 .
Mandić, Petar, Lazarević, Mihailo, Šekara, Tomislav, Cvetković, Boško, "Robust PID Control for Robot Manipulators with Parametric Uncertainties" in Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018, Palić, Serbia, June 11 – 14, 2018. (2018):1054-1059, https://hdl.handle.net/21.15107/rcub_machinery_4137 .