Application of an H&amp;#x221E; control strategy to the parallel Delta

Rachedi, Meryam; Bouri, Mohamed; Hemici, Boualem

doi:10.1109/ccca.2012.6417912

Cited by 7 publications

(8 citation statements)

References 3 publications

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“…To design the H∞ controller by the mixed sensitivity approach, we use the linear dynamic model of the Delta robot performed in [6]. This model is augmented by the weighting function matrices selecting in order to have the best performance and robustness.…”

Section: B Design Of the H∞ Controllermentioning

confidence: 99%

“…• The procedure of linearization of the dynamic model of the delta robot around an operating point was performed in [6]. The obtained linear model is given in state space by the matrices (A,B,C): • The obtained synthesized controller K H∞ is implemented in this control scheme combined with the feed forward pre-computed torque Γ a (Incorporation of the inverse dynamic model of the Delta robot [5]) .…”

Section: B Design Of the H∞ Controllermentioning

confidence: 99%

“…Basically, the procedure will consist of three steps (i) First, the MIMO linearized model of the Delta robot developed in [6] [7]is augmented with the transfer matrix of the weighting functions containing all the specification of robustness and performance (ii) Then, the H∞ controller is synthesized based on the algorithm of Glover-Doyle developed in [8]. (iii) Finally, the synthesized H∞ controller is implemented with the combination of the feed-forward torque on the Direct Drive Delta robot [9].…”

Section: Introductionmentioning

confidence: 99%

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H∞ feedback control for Parallel mechanism and application to delta robot

Rachedi¹,

Bouri

Hemici

2014

22nd Mediterranean Conference on Control and Automation

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This paper discusses the design of an H∞ MIMO centralized feedback controller applied to a 3 DOF parallel robot namely the "Delta robot". The designed controller is used in combination with a feed-forward pre-computed torque (a priori torque). The simulation results for a complex trajectory used in pick and place operation with high acceleration (12 G) show the performance improvements obtained by the total controller (a priori torque + H∞ feedback) in comparison to the conventional decentralized PID controller used with the a priori torque.

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Section: B Design Of the H∞ Controllermentioning

confidence: 99%

Section: B Design Of the H∞ Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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H∞ feedback control for Parallel mechanism and application to delta robot

Rachedi¹,

Bouri

Hemici

2014

22nd Mediterranean Conference on Control and Automation

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“…e existing control strategies that have been applied to the parallel robot include PID control [7][8][9][10][11], calculated torque control [12][13][14][15][16][17], and sliding mode variable structure control [18][19][20]. ese methods have higher requirements on the model of the control object, and the operating conditions and operating environment are deterministic.…”

Section: Introductionmentioning

confidence: 99%

Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots

Liu

Cheng

Liu

et al. 2020

Mathematical Problems in Engineering

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In order to better track the planned trajectory of Delta high-speed parallel robot, this paper proposes a dynamics control strategy for Delta high-speed parallel robots based on the linear active disturbance rejection control (LADRC) strategy which realizes decoupling control through observing and compensating the coupling and internal and external disturbances between the three joints. Firstly, the structure and dynamics model of the Delta high-speed parallel robot are analyzed, respectively. Secondly, the control scheme of the Delta high-speed parallel robot dynamic LADRC strategy is constructed, and then, the system stability is analyzed. Taking a representative 8-shaped space helical variance trajectory as a given input of the system and a triangular wave as an external disturbance as given disturbance input of the system, simulations are carried out to demonstrate the effectiveness of the proposed LADRC strategy; results indicate that the system with the LADRC strategy has a good quick and precise real-time trajectory tracking and strong robustness.

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“…TRANSITION FROM DYNAMIC MODEL TO A STATE SPACEFORMIn[11], we have developed a differential equation which depends only on the joint positions:…”

mentioning

confidence: 99%

Application of the mixed sensitivity problem H∞ and H<inf>2</inf> to the parallel Delta

Rachedi

Hemici

Bouri

2013

3rd International Conference on Systems and Control

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This paper deals with an efficient application of the mixed sensitivity problem for the position control of the "Delta" parallel robot. The dynamic model of this three degrees of freedom robot is highly nonlinear. An H∞ controller is synthesized in two steps. We first develop the tangential linearized model of the robot around an operating point. The mixed sensitivity problem is then solved. This consists of shaping both the sensitivity and the complementary sensitivity functions of the closed loop system. For the implementation of the control law, a Simmechanics 1 multibody mechanical model has been developed to simulate the kinematics and the dynamics of the robot and to validate the control results. The controller is implemented without using the feed forward precomputed torque and the performances remain satisfactory by decreasing the travel time of the semi-elliptic trajectory for pick and place up to 0.25s. The simulations results of the H∞ controller are compared to those of H2 controller. Robustness analysis through methodical simulation results are presented and commented.

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Application of an H∞ control strategy to the parallel Delta

Cited by 7 publications

References 3 publications

H∞ feedback control for Parallel mechanism and application to delta robot

H∞ feedback control for Parallel mechanism and application to delta robot

Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots

Application of the mixed sensitivity problem H∞ and H<inf>2</inf> to the parallel Delta

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Application of an H&#x221E; control strategy to the parallel Delta

Cited by 7 publications

References 3 publications

H&#x221E; feedback control for Parallel mechanism and application to delta robot

H&#x221E; feedback control for Parallel mechanism and application to delta robot

Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots

Application of the mixed sensitivity problem H&#x221E; and H<inf>2</inf> to the parallel Delta

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Application of an H∞ control strategy to the parallel Delta

H∞ feedback control for Parallel mechanism and application to delta robot

H∞ feedback control for Parallel mechanism and application to delta robot

Application of the mixed sensitivity problem H∞ and H<inf>2</inf> to the parallel Delta