An adaptive PID control algorithm for the two-legged robot walking on a slope

Mandava, Ravi Kumar; Vundavilli, Pandu R.

doi:10.1007/s00521-019-04326-2

Cited by 21 publications

(11 citation statements)

References 32 publications

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“…Moreover, the time required to stabilize the error is 5 seconds for PID and fuzzy logic controller and 0 seconds for the sliding mode controller. The result indicates that the performance of SMC is greater than the PID and fuzzy logic controller (Mandava and Vundavilli, 2020;Mandava and Vundavilli, 2021;Kodali et al, 2022). Figure 6 shows the switching surfaces of the SMC.…”

Section: Resultsmentioning

confidence: 99%

Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study

Tomar

Mandava²,

Hemalatha³

et al. 2023

Int. j. math. eng. manag. sci.

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Controlling the manipulators in a precise manner is a challenging task. To overcome this difficulty around the world, many researchers have developed various control algorithms but are not providing optimal results. To obtain the optimal results in the current research the authors designed a proportional, integral, and derivative (PID) controller, fuzzy logic controller (FLC), and sliding mode controller (SMC) for a 2-DOF manipulator. The concept of forward and inverse kinematics was initially solved after assigning the D-H parameters for each joint. The purpose of forward or direct kinematics is to obtain the position and orientation of the end effector. Further, the concept of inverse kinematics is used to estimate the joint angles. Later on, the Lagrange-Euler formulation was used to calculate the dynamics of the 2-DOF manipulator, which is required to estimate the torque required for each joint of the robotics arm. The main goal of this research problem is to optimize the angular error between the two successive events. Finally, the developed algorithm is compared with the existing algorithms such as PID and Fuzzy logic controller.

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Section: Resultsmentioning

confidence: 99%

Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study

Tomar

Mandava²,

Hemalatha³

et al. 2023

Int. j. math. eng. manag. sci.

Self Cite

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“…Ordinary open-loop pose control strategies [1][2][3] are difficult to meet the outdoor motion requirements of ground robots resulting from lacking accuracy. Most closed-loop position-posture control strategies are based on sensor feedback, such as using force sensor feedback [1,[8][9][10]14], attitude sensor feedback [11,13,15,16,18], and visual sensor feedback [19], but it is complicated to achieve the adjustment function in practice. is paper proposes a simple and effective position-posture control algorithm that does not require additional sensors and only modifies the inverse kinematics of the robot.…”

Section: Conclusion and Discussionmentioning

confidence: 99%

“…Aoki et al developed a robot QRoSS, which completed rolling motion and position-posture control by stretching and contracting the legs [13]. Mandava and Vundavilli developed an adaptive torque-based PID controller with the help of MCIWO-NN and PSO-NN algorithms to transform position-posture [14]. Corral et al changed the settings of a hexapod robot leg trajectory for adjusting posture-position by optimizing consumed energy and leg trajectory during each leg transfer [15].…”

Section: Introductionmentioning

confidence: 99%

Position-Posture Control of Multilegged Walking Robot Based on Kinematic Correction

Zhang

Zhu

Zhang

et al. 2020

Journal of Robotics

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Posture-position control is the fundamental technology among multilegged robots as it is hard to get an effective control on rough terrain. These robots need to constantly adjust the position-posture of its body to move stalely and flexibly. However, the actual footholds of the robot constantly changing cause serious errors during the position-posture control process because their foot-ends are basically in nonpoint contact with the ground. Therefore, a position-posture control algorithm for multilegged robots based on kinematic correction is proposed in this paper. Position-posture adjustment is divided into two independent motion processes: robot body position adjustment and posture adjustment. First, for the two separate adjustment processes, the positions of the footholds relative to the body are obtained and their positions relative to the body get through motion synthesis. Then, according to the modified inverse kinematics solution, the joint angles of the robot are worked out. Unlike the traditional complex closed-loop position-posture control of the robot, the algorithm proposed in this paper can achieve the purpose of reducing errors in the position-posture adjustment process of the leg-foot robot through a simple and general kinematic modification. Finally, this method is applied in the motion control of a bionic hexapod robot platform with a hemispherical foot-end. A comparison experiment of linear position-posture change on the flat ground shows that this method can reduce the attitude errors, especially the heading error reduced by 55.46%.

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“…With f (x) defined as in (11), the various constants remain like α 1 = 1, α 2 = √ n, α 3 = 1 and α 4 = 1, [16]. By considering the robot manipulator equation described in (1), and the control equation defined in (10), we defined the closed loop system equation:…”

Section: Control Lawmentioning

confidence: 99%

“…In [10], an adaptive PID control for wind turbines was developed, which allows an automatic change of gains with no trial-and-error processes. In [11], the principal aim was to decide the gains of the torque-based PID controller with the help of a neural network trained by using nature-inspired optimization algorithms. The adaptiveness of the algorithm lies in modifying the gains of the controller based on the magnitude of the error in the angular displacement received at the input.…”

Section: Introductionmentioning

confidence: 99%

Differential Evolution Algorithms Comparison Used to Tune a Visual Control Law

Sánchez-Sánchez

Reyes²,

Ruiz-Garcia³

et al. 2022

IEEE Access

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This paper presents the results of the comparative study of differential evolution algorithms used as an alternative for tuning the gains of a PD+ type visual control structure, since tuning PD or PID type control structures is not trivial. We made the quantitative comparison using the performance index (L 2 -norm) and we applied the algorithm of best performance in a case of study (detection and cutting of leaves using a Cartesian robot). We also present the stability analysis according to Lyapunov theory and experimental results.INDEX TERMS Differential evolution algorithms, PD+ type control structure, performance index, tuning control structures, centroid, visual-servoing, plant tissue analysis, leaves cutting.

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An adaptive PID control algorithm for the two-legged robot walking on a slope

Cited by 21 publications

References 32 publications

Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study

Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study

Position-Posture Control of Multilegged Walking Robot Based on Kinematic Correction

Differential Evolution Algorithms Comparison Used to Tune a Visual Control Law

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