Fractional Order PD and PID Position Control of an Angular Manipulator of 3DOF

Rojas-Moreno, Arturo; Sandoval, Victor Jara

doi:10.1109/lars.2013.63

Cited by 16 publications

(4 citation statements)

References 6 publications

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“…It can be upgraded to a 2 DoF system for a point-to-point elbow and shoulder movement control [65]. A 3 DoF manipulator with steerable base, arm and forearm is capable of conducting accurate position reaching [66]. 4 DoF (shoulder horizontal and vertical extension and flexion, elbow extension and flexion, and forearm pronation and supination) arm control model is developed for human locomotion rehabilitation [67].…”

Section: A Degree Of Freedommentioning

confidence: 99%

A Survey on Biofeedback and Actuation in Wireless Body Area Networks (WBANs)

Lai

Lee

2017

IEEE Rev. Biomed. Eng.

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Wireless body area networks (WBANs) have attained increasing popularity as the next generation framework of wearable technologies for human monitoring. Invasive or noninvasive wearable sensors designed in a WBAN are worn to gather vital information. Biofeedback is a recent concept where collected data are used to generate actuation signals in WBANs. Applications can be seen in various areas such as sports (e.g., locomotor velocity) or medicine (e.g., blood pressure measurement). However, since the body is closely regulated, the next generation WBAN technology must be smart enough to react to monitored data. The main aim of this paper is to review the current state of biofeedback and actuation technology on WBANs in terms of its structure, applications, benefits, and control approaches. The emphasis on the specific requirements when applying biofeedback to humans will be highlighted and discussed. Challenges and open research issues will be concluded at the end.

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Section: A Degree Of Freedommentioning

confidence: 99%

A Survey on Biofeedback and Actuation in Wireless Body Area Networks (WBANs)

Lai

Lee

2017

IEEE Rev. Biomed. Eng.

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“…The specific design is to select the nominal model of PMSM and design a function to describe the uncertainty and external interference. The designed controller is composed of dynamic model of uncertain system, PD feedback control and [18] robust design components of uncertain boundary. Compared with H∞ control and ARC, the proposed method has the advantages of simple structure, fewer parameters and simple adjustment process.…”

Section: Introductionmentioning

confidence: 99%

Model-based robust servo control for permanent magnet synchronous motor with inequality constraint

Sun,

Zhen,

Liu

et al. 2023

Meas. Sci. Technol.

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Based on the dynamic model, a robust constrained control method for permanent magnet synchronous motor (PMSM) is proposed in this paper to achieve better trajectory tracking performance. Firstly, the constrained output variable of PMSM is transformed into unconstrained output variable by the monotone unbounded property of tangent function. After conversion, regardless of the uncertainty, the output angular displacement of PMSM always remains within the boundary. In addition, after state transformation of control variables, a new dynamic model of the system is obtained. Secondly, based on the new dynamic model, a control method based on model and error is proposed. Theoretical analysis shows that the proposed control satisfies the requirements of uniformly bounded and uniformly bounded limits. Thirdly, the practicability and effectiveness of the robust controller are verified by simulation and experiments. This method can restrain the influence of uncertainty well and improve the servo performance and operation reliability of PMSM significantly.

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“…In ref. [8], a robust cascade control is applied in PMSM speed control, which damages the disturbance observer. In ref.…”

Section: Introductionmentioning

confidence: 99%

A Lyapunov-based robust control for permanent magnet synchronous motor in the modular joint of collaborative robot

Zhen

Liu

et al. 2023

Robotica

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In order to decrease the influence of system parameters and load on the dynamic performance of permanent magnet synchronous motor (PMSM) in cooperative robot joint modules, a practical model-based robust control method was proposed. It inherits the traditional proportional-integral-derivative (PID) control and robust control based on error and model-based control. We first set up the nominal controller using the dynamics model. In order to limit the influence of uncertainty on dynamic performance, a robust controller is established based on Lyapunov method. The control can be regarded as an improved PID control or a redesigned robust control. Compared with the traditional control method, it is simple to implement and has practical effects. It is proved by theoretical analysis that the controller can guarantee the uniform boundedness and uniform final boundedness of the system. In addition, the prototype of fast controller cSPACE is built on the experiment platform, which averts long-time programming and debugging. It offers immense convenience for practical operation. Finally, numerical simulation and real-time experiment results are presented. Based on cSPACE and a PMSM in the joint module of a practical cooperative robot, the availability of the control design and the achievable control performance are verified.

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Fractional Order PD and PID Position Control of an Angular Manipulator of 3DOF

Cited by 16 publications

References 6 publications

A Survey on Biofeedback and Actuation in Wireless Body Area Networks (WBANs)

A Survey on Biofeedback and Actuation in Wireless Body Area Networks (WBANs)

Model-based robust servo control for permanent magnet synchronous motor with inequality constraint

A Lyapunov-based robust control for permanent magnet synchronous motor in the modular joint of collaborative robot

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