Design of weighted PID controllers for control of the Stewart-Gough platform

Kolasiewicz, Justyna; Perzylo, Anna; Piotrowski, Robert

doi:10.1109/mmar49549.2021.9528437

Cited by 2 publications

(3 citation statements)

References 14 publications

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“…Często obiektem sterowania są platformy o sześciu stopniach swobody wykorzystujące siłowniki liniowe lub obrotowe [1][2][3]. Sama platforma jako nieliniowy obiekt sterowania oferuje możliwość sprawdzenia jakości liniowych oraz nieliniowych metod regulacji [4][5][6][7].…”

Section: Wprowadzenieunclassified

The Stabilization System of a Ball on Mobile Platform

Banach¹,

Piotrowski²

2022

PAR

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In recent years, tracking systems have been significantly developed. A number of their possible applications have also increased. Their usage was no longer limited to the industrial applications and became more accessible to the everyday appliances. This article covers process of a design and synthesis of a ball stabilization system on a mobile platform. The mechanics and electronics of the platform have been described as well as a mathematical model of the platform and a process of a platform software development. Results of conducted tests of performance quality for step response, square and circle trajectories have been presented.

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Section: Wprowadzenieunclassified

The Stabilization System of a Ball on Mobile Platform

Banach¹,

Piotrowski²

2022

PAR

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“…Providing a control structure, which is simple and yet results in satisfactory closed-loop performances, is another necessity in the literature. Satisfactorily use of the integral performance criteria in practical applications-such as hydro generator governor (Fang et al, 2018), linear brushless DC motor (Ibrahim et al, 2019), automatic voltage regulator (AVR) (Bingul and Karahan, 2018), Stewart-Gough platform (Kolasiewicz et al, 2021), and inverted pendulum (Peker and Kaya, 2016)-is another source of motivation for this study. Practical applications of I-PD controllers, including magnetic levitation system (Sain et al, 2018), solar photovoltaic system (Prakash and Parida, 2019), interconnected power system (Daraz et al, 2020), and plastic injection process (Pannawan and Sudsawat, 2021) provide another motivation of this work.…”

Section: Introductionmentioning

confidence: 99%

“…Satisfactorily use of the integral performance criteria in practical applications—such as hydro generator governor (Fang et al, 2018), linear brushless DC motor (Ibrahim et al, 2019), automatic voltage regulator (AVR) (Bingul and Karahan, 2018), Stewart–Gough platform (Kolasiewicz et al, 2021), and inverted pendulum (Peker and Kaya, 2016)—is another source of motivation for this study.…”

Section: Introductionmentioning

confidence: 99%

Integral-proportional derivative controller tuning rules obtained from optimum responses for set-point tracking of unstable processes with time delay

Kaya

Cokmez

2022

Transactions of the Institute of Measurement and Control

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This paper introduces the design of integral–proportional derivative (I-PD) controllers for unstable first-order plus time-delay and integrating-unstable first-order plus time-delay processes. Minimization of the error based on integral performance criteria is performed to derive analytical rules using curve fitting techniques. Obtained analytical formulas may be used to determine the necessary tuning parameters of the I-PD controller from the known plant transfer function parameters. Advantages of the introduced tuning of I-PD controllers are shown by comparisons with other existing ones in terms of unit step responses, measurement noise, control signals, perturbations in plant transfer function parameters, and integral performance indices. Results have shown that some significant advantages have been achieved with the introduced tuning of I-PD controllers when compared to others in the literature.

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Design of weighted PID controllers for control of the Stewart-Gough platform

Cited by 2 publications

References 14 publications

The Stabilization System of a Ball on Mobile Platform

The Stabilization System of a Ball on Mobile Platform

Integral-proportional derivative controller tuning rules obtained from optimum responses for set-point tracking of unstable processes with time delay

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