A novel PID control parameters tuning approach for robot manipulators mounted on oscillatory bases

Lin, Jia-Chun; Huang, Zhipei

doi:10.1017/s0263574706003298

Cited by 14 publications

(12 citation statements)

References 22 publications

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“…In this direction, it is important to point out that the sense given in this work to the term ‘tuning’ is the same one given in [5, 6, 15], referring to the inequality conditions on the control parameters – generally in terms of the bound quantifications characterising Properties 1–4 (presented in Section 2) and independent of the operation region – obtained through the closed‐loop analysis to guarantee the pre‐specified control objective. This differs from the meaning given in other works where control‐gain setting aims at coping with performance requirements or give rise to ‘acceptable’ system behaviours [16, 17], regularly focusing on closed‐loop response characteristic aspects such as rising time, overshoot or stabilisation time. Such ‘response‐oriented’ tuning procedures are frequently based on linear or linearised models and/or linear‐model‐based methods.…”

Section: Introductionmentioning

confidence: 73%

Output‐feedback proportional–integral– derivative‐type control with simple tuning for the global regulation of robot manipulators with input constraints

Mendoza

Zavala‐Río

Santibáñez

et al. 2015

IET Control Theory & Applications

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Section: Introductionmentioning

confidence: 73%

Output‐feedback proportional–integral– derivative‐type control with simple tuning for the global regulation of robot manipulators with input constraints

Mendoza

Zavala‐Río

Santibáñez

et al. 2015

IET Control Theory & Applications

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“…The grey theory used in ref. [24] to optimize the parameters of a PID controller for a robotic manipulator attached to a compliant base (one of SAMS types). Such a system is known as the macro-micro system, characterized by the number of control actuators being less than the number of state variables.…”

Section: Controller Designmentioning

confidence: 99%

Stabilization and equilibrium control of a new pneumatic cart-seesaw system

2008

Self Cite

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SUMMARYThis investigation describes the mechanical configuration and control environment for a novel cart-seesaw system. This mechanism is called a super articulated mechanical system (SAMS). The system comprises a cart that slides on the pneumatic rodless cylinder. The rodless cylinder is double-acting with the carrier bracket, on which a cart is a pinion mechanism for the tracks. The cart-seesaw system brings the cart from any initial position to a desired position on the seesaw by applying an appropriate force to the cart and thus adjusting the angle of the seesaw. The position of a cart denotes the first degree of freedom, which is activated by a pneumatic proportional valve, and the angle of the seesaw indicates the second degree of freedom that is not actuated. Consequently, the proposed new pneumatic cart-seesaw system is straightforward to construct and direct to operate in different scenarios of performance. A state feedback controller is applied for stabilization of the equilibrium point of the system. Moreover, this study adds a supervisory controller that takes control action in extreme situations. Test results reveal excellent properties in control performance. The proposed product can be extensively applied in SAMS and pneumatic control for robotics control laboratory.

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“…However, mounting a robotic manipulator on a crane, boom, or mobile platform reduces its accuracy and speed. In this problem, the manipulator dynamics are substantially affected by nonlinear forces caused by the oscillation of the base, as well as its own nonlinearity; these include gravity, Coriolis, and centrifugal forces, which are generally intrinsic to mechanical systems (Lin and Huang, 2007a,b; Lin et al., 2007).…”

Section: Introductionmentioning

confidence: 99%

Hybrid fuzzy position/force control by adaptive network-based fuzzy inference system for robot manipulator mounted on oscillatory base

Lin

2013

Journal of Vibration and Control

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This study considered the hybrid position/force control of robots with an oscillatory base. The objective when controlling such a system is to control the contact force between the environment and the object in the constrained directions. The auxiliary control input laws with the ANFIS tuning methodology were successfully applied to robot manipulators mounted on an oscillatory base to provide hybrid position/force control. Linguistic fuzzy information from human knowledge was incorporated into the fuzzy system, which was equipped with a training algorithm. The advantage of the proposed control scheme is that only select control inputs are needed to select control inputs for task space trajectory tracking. In other words, such a system does not require the redesign of the vibration damping controller. Tracking performance comparison is also presented for the proposed control scheme and the other existing control techniques. It is shown that the proposed fuzzy control scheme offers several implementation advantages such as less steady-state errors, reduced effect of overshoot, and a fast convergent rate in real-time verification. The experimental results of this study confirmed the efficiency of the proposed control design and its feasibility for use in various mechanical systems, including mobile robots, gantry cranes, underwater robots, and other dynamic systems mounted on oscillatory bases and used to perform constrained motion tasks.

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A novel PID control parameters tuning approach for robot manipulators mounted on oscillatory bases

Cited by 14 publications

References 22 publications

Output‐feedback proportional–integral– derivative‐type control with simple tuning for the global regulation of robot manipulators with input constraints

Output‐feedback proportional–integral– derivative‐type control with simple tuning for the global regulation of robot manipulators with input constraints

Stabilization and equilibrium control of a new pneumatic cart-seesaw system

Hybrid fuzzy position/force control by adaptive network-based fuzzy inference system for robot manipulator mounted on oscillatory base

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