Fractional PID Controller Tuned by Genetic Algorithms for a Three DOF's Robot System Driven by DC motors

Lazarević, Mihailo P.; Batalov, Srecko A.; Latinovic, T

doi:10.3182/20130204-3-fr-4032.00179

Cited by 18 publications

(5 citation statements)

References 3 publications

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“…3) PID parameters tuning The genetic algorithm (GA) is a search technique that manipulates the coding representation of a parameter set to search a near-optimal solution through mutation and selection among the potential solutions (Lazarevic et al 2013;Zhang et al 2009). In this study, GA is used to obtain the optimal solution of a PID parameter in the closed-loop feedback of the micromotion stage.…”

Section: ) Subdivided Pidmentioning

confidence: 99%

Implementation and experiment of a novel piezoelectric-spring stage for rapid high-precision micromotion

Zhang

Gao

2020

Microsyst Technol

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A precision micromotion stage is significant in the microelectronics-manufacturing field to realize high-performance tasks. The output position error and limited frequency response influence the working performance and efficiency of the micromotion stage. A novel piezoelectric-based (PZT) reciprocating micromotion stage with a special spring-PZT structure is proposed in this paper to cater to the high manufacturing demands and achieve rapid precision micromotion performance. This structure is designed to use a high-stiffness spring element as the flexure deformation structure, by utilizing the linearity of the spring, for achieving precise output/input ratio and high-frequency response. The feasibility of the micromotion stage is explored through theoretical analyses, including a dynamic response analysis, frequency response analysis, output displacement, and rapidity analysis of the specialized spring-PZT structure. For the inherent hysteresis challenge of the PZT-based structure, a feedforward subdivided proportional–integral–derivative method is adopted for system implementation. Subsequently, an optimal design of the stage is established, and the expected motion performance is verified experimentally. Finally, a series of experiments in terms of output ratio property analysis, dynamic hysteresis characterization, tracking error performance, and response rapidity are conducted for different micromotion frequencies and strokes. It is indicated that the stage can achieve nanometre-level precision and high-frequency micromotion simultaneously, which could be applied in the microelectronics manufacturing for rapid precision micromotion operations.

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Section: ) Subdivided Pidmentioning

confidence: 99%

Implementation and experiment of a novel piezoelectric-spring stage for rapid high-precision micromotion

Zhang

Gao

2020

Microsyst Technol

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“…The results showed that the cFOPID controller can regulate the system, even if the fractional factor values exceed the general bound for these two parameters [29]. In [31], the authors implemented a simulation of a cFOPID controller with a three-DOF robot system that is driven by DC motors. In this work, the objective function considered the overshoot, settling time, and IAE index.…”

Section: Introductionmentioning

confidence: 99%

Experimental Validation of Fractional PID Controllers Applied to a Two-Tank System

et al. 2023

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An experimental validation of fractional-order PID (FOPID) controllers, which were applied to a two coupled tanks system, is presented in this article. Two FOPID controllers, a continuous FOPID (cFOPID) and a discrete FOPID (dFOPID), were implemented in real-time. The gains tuning process was accomplished by applying genetic algorithms while considering the cost function with respect to the tracking error and control effort. The gains optimization process was performed directly to the two-tanks non-linear model. The real-time implementation used a National Instruments PCIe-6321 card as a data acquisition system; for the interface, we used a Simulink Matlab and Simulink Desktop Real-Time Toolbox. The performance of the fractional controllers was compared with the performance of classical PID controllers.

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“…The co-simulation approved the FOPID’s disturbance rejection and robustness. Finally, Genetic Algorithm (GAs) were used to calculate optimized control parameters of FOPID for a 3-degree-of-freedom robotic system (Lazarević et al, 2013). In the final closed-loop system, the suggested model proved to be effective.…”

Section: Introductionmentioning

confidence: 99%

Optimization and control of an energy-efficient vibration-driven robot

Amiri,

Sohrabi,

Eftekharian

et al. 2023

Journal of Vibration and Control

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Vibration-driven robots are innovative mechanical systems that exhibit a wide range of capabilities and applications due to their simple propellers. The applications of these robots span from clearing debris after an incident, traversing pipelines for inspection and maintenance, or medical purposes. In this paper, optimization and motion control of an energy-efficient two-module vibration-driven robot are investigated. The robot contains two blocks connected by a spring as its main body, and an unbalanced rotating mass to drive the robot rectilinearly. At first, the governing dynamic equations of the robot are derived and solved using MATLAB/Simulink. Then, the dynamic model of the robot is verified by comparing the obtained results with the simulation results from MSC Adams. Subsequently, a parametric study is conducted to investigate the effect of various physical parameters of the robot on its average velocity and consumed energy. Afterward, optimization variables are determined and a proper objective function is considered. By performing an optimization process using a genetic algorithm (NSGA-II), optimal parameters of the robot are obtained. Moreover, for motion control of the optimized robot, two control schemes, PID and Fractional Order PID, are designed. To evaluate and compare the performance of the proposed controllers, parameters of both controllers are optimized using a genetic algorithm in which both tracking error and control input are minimized, simultaneously. Finally, tracking error and control effort of the mentioned controllers for motion control of the robot are compared and discussed.

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Fractional PID Controller Tuned by Genetic Algorithms for a Three DOF's Robot System Driven by DC motors

Cited by 18 publications

References 3 publications

Implementation and experiment of a novel piezoelectric-spring stage for rapid high-precision micromotion

Implementation and experiment of a novel piezoelectric-spring stage for rapid high-precision micromotion

Experimental Validation of Fractional PID Controllers Applied to a Two-Tank System

Optimization and control of an energy-efficient vibration-driven robot

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