A New Model-Free Trajectory Tracking Control for Robot Manipulators

Wang, Yaoyao; Zhu, Kaigui; Chen, Bai; Wu, Hongtao

doi:10.1155/2018/1624520

Cited by 6 publications

(4 citation statements)

References 68 publications

(113 reference statements)

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“…When designing a profile to control robotic arm movement, operators typically define the motion path [16]. Control in such programs encompasses point-topoint control and trajectory tracking control, each with distinct advantages and disadvantages [17], [18].…”

Section: Introductionmentioning

confidence: 99%

Time-Varying Sign Gain with Expert System in Serial Iterative Learning Control Architecture

Chotikunnan,

Pititheeraphab

et al. 2024

IREACO

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This study investigates the integration of time-varying sign gain with an expert system within the framework of serial iterative learning control architecture. Iterative Learning Control (ILC) is recognized as a vital technique for enhancing the precision of robotic systems. However, challenges persist in mitigating learning transients, which can affect system performance. To address this issue, an expert system is developed to fine-tune the learning control matrix. Through extensive simulation tests, the proposed approach's performance is evaluated, with a focus on reducing Root Mean Square Error (RMSE) and stabilizing robotic arm motion. The results demonstrate a consistent decrease in RMSE across multiple iterations, indicating the effectiveness of the integrated approach. Moreover, stability analysis reveals promising asymptotic convergence values, affirming the system's stabilization capability. In conclusion, this study advocates for the adoption of expert system techniques, such as the integration of time-varying sign gain, to manage learning transients and enhance the stability and precision of robotic manipulator applications.

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Section: Introductionmentioning

confidence: 99%

Time-Varying Sign Gain with Expert System in Serial Iterative Learning Control Architecture

Chotikunnan,

Pititheeraphab

et al. 2024

IREACO

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“…In the design of a motion profile to control the movement of robotic arms, the operator must define the motion path as the movement of a robotic arm. In the control of a program, there will be a point-to-point control [23] and trajectory tracking control [24], [25], in which each control has different advantages and disadvantages. The repetitive process [26] is part of the robot's control to do the same thing again.…”

Section: Introductionmentioning

confidence: 99%

Dual Design PID Controller for Robotic Manipulator Application

Chotikunnan

2023

Journal of Robotics and Control

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This research introduces a dual design proportional–integral–derivative (PID) controller architecture process that aims to improve system performance by reducing overshoot and conserving electrical energy. The dual design PID controller uses real-time error and one-time step delay to adjust the confidence weights of the controller, leading to improved performance in reducing overshoot and saving electrical energy. To evaluate the effectiveness of the dual design PID controller, experiments were conducted to compare it with the PID controller using least overshoot tuning by Chien–Hrones–Reswick (CHR) technique. The results showed that the dual design PID controller was more effective at reducing overshoot and saving electrical energy. A case study was also conducted as part of this research, and it demonstrated that the system performed better when using the dual design PID controller. Overshoot and electrical energy consumption are common issues in systems that can impact performance, and the dual design PID controller architecture process provides a solution to these issues by reducing overshoot and saving electrical energy. The dual design PID controller offers a new technique for addressing these issues and improving system performance. In summary, this research presents a new technique for addressing overshoot and electrical energy consumption in systems through the use of a dual design PID controller. The dual design PID controller architecture process was found to be an effective solution for reducing overshoot and saving electrical energy in systems, as demonstrated by the experiments and case study conducted as part of this research. The dual design PID controller presents a promising solution for improving system performance by addressing the issues of overshoot and electrical energy consumption.

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“…The simulation result of two-link robot showed that the proposed method was effective [2]. A novel model free trajectory tracking control algorithm for robot manipulators under complex disturbances was proposed by Wang et al, which uses time delay control (TDC) as the control model to ensure a model-free plan and the utilization of the adaptive nonsingular terminal sliding mode (ANTSM) to gain high control accuracy and fast dynamic response under lumped disturbance [3].…”

Section: Introductionmentioning

confidence: 99%

Research on Tracking Control of Circular Trajectory of Robot Based on the Variable Integral Sliding Mode PD Control Algorithm

Zhao

2020

IEEE Access

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An algorithm named Variable Integral Sliding Mode PD Control (VISMPDC) which combines integral sliding mode control with the PD control method is proposed to improve the trajectory tracking control accuracy and robustness of a robot along the representative circular trajectory. According to the difference of the time weighting coefficients in the time-jerk optimal objective function (when the time weighting coefficient increases from 0 to 1, the movement velocity of a robot changes from low to high), the obtained optimization trajectories are divided into two categories: low-speed and high-speed; and then the integral sliding mode control parameters are adjusted, while the parameters of the PD control method keep unchanged. The experimental results on a 7-DOF robot show that the proposed algorithm is effective and feasible when compared with the traditional PD control method. In conclusion, the algorithm presents a solution for the typical circular trajectory tracking control problem of a robot.

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A New Model-Free Trajectory Tracking Control for Robot Manipulators

Cited by 6 publications

References 68 publications

Time-Varying Sign Gain with Expert System in Serial Iterative Learning Control Architecture

Time-Varying Sign Gain with Expert System in Serial Iterative Learning Control Architecture

Dual Design PID Controller for Robotic Manipulator Application

Research on Tracking Control of Circular Trajectory of Robot Based on the Variable Integral Sliding Mode PD Control Algorithm

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