On the trajectory tracking control for an SCARA robot manipulator in a fractional model driven by induction motors with PSO tuning

Coronel‐Escamilla, A.; Torres, Felipe J.; Gómez-Aguilar, J. F.; Escobar-Jiménez, R.F.; Guerrero-Ramírez, G.V.

doi:10.1007/s11044-017-9586-3

Cited by 50 publications

(26 citation statements)

References 20 publications

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“…To improve the performance of classical PD algorithms, the fractional order PD (FOPD) was introduced [11]. This scheme was applied to the control of motors [12], machines [13], robots [14], and building structures [15], among others [16][17][18][19], but, in the case of some complex systems, the FOPD still reveals some limitations and needs to be improved.…”

Section: Introductionmentioning

confidence: 99%

Improved Decentralized Fractional PD Control of Structure Vibrations

Chen

Wang

et al. 2020

Mathematics

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This paper presents a new strategy for the control of large displacements in structures under earthquake excitation. Firstly, an improved fractional order proportional-derivative (FOPD) controller is proposed. Secondly, a decentralized strategy is designed by adding a regulator and fault self-regulation to a standard decentralized controller. A new control architecture is obtained by combining the improved FOPD and the decentralized strategy. The parameters of the control system are tuned using an intelligent optimization algorithm. Simulation results demonstrate the performance and reliability of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Improved Decentralized Fractional PD Control of Structure Vibrations

Chen

Wang

et al. 2020

Mathematics

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“…Nisar et al [21] discussed a generalized non-integer kinetic equation containing a gener-alized Bessel function of the first kind. Also, some of the interesting nonlinear models and fractional models were discussed in [22][23][24][25][26][27][28][29][30][31][32][33][34][35].…”

Section: Introductionmentioning

confidence: 99%

A non-integer order dengue internal transmission model

2018

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A non-linear mathematical model with non-integer order γ , 0 < γ ≤ 1, is used to analyze the dengue virus transmission in the human body. Both disease-free F 0 and endemic F * equilibria are calculated. Their stability is also described using the stability theorem of non-integer order. The threshold parameter R 0 demonstrates an important behavior in the stability of a considerable model. For R 0 < 1, the disease-free equilibrium (DFE) F 0 is an attractor. For R 0 > 1, F 0 is not stable, the endemic equilibrium (EE) F * exists, and it is an attractor. Numerical examples of the proposed model are also proven to study the behavior of the system.

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“…Based on these, a comprehensive optimization problem is derived and solved, such that the robustness and disturbance rejection ability of the resulting FO-PI controller are enhanced to achieve optimal performance. In Reference ( [11] new), the problem of fractional modeling and the control of an industrial selective compliant assembly robot arm (SCARA) is presented. Induction motors are used to drive each joint of the robot manipulator and for each motor a fractional model is formulated.…”

Section: Introductionmentioning

confidence: 99%

Experimental Validation of a Novel Auto-Tuning Method for a Fractional Order PI Controller on an UR10 Robot

et al. 2018

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Classical fractional order controller tuning techniques usually consider the frequency domain specifications (phase margin, gain crossover frequency, iso-damping) and are based on knowledge of a process model, as well as solving a system of nonlinear equations to determine the controller parameters. In this paper, a novel auto-tuning method is used to tune a fractional order PI controller. The advantages of the proposed auto-tuning method are two-fold: There is no need for a process model, neither to solve the system of nonlinear equations. The tuning is based on defining a forbidden region in the Nyquist plane using the phase margin requirement and determining the parameters of the fractional order controller such that the loop frequency response remains out of the forbidden region. Additionally, the final controller parameters are those that minimize the difference between the slope of the loop frequency response and the slope of the forbidden region border, to ensure the iso-damping property. To validate the proposed method, a case study has been used consisting of a pick and place movement of an UR10 robot. The experimental results, considering two different robot configurations, demonstrate that the designed fractional order PI controller is indeed robust.

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On the trajectory tracking control for an SCARA robot manipulator in a fractional model driven by induction motors with PSO tuning

Cited by 50 publications

References 20 publications

Improved Decentralized Fractional PD Control of Structure Vibrations

Improved Decentralized Fractional PD Control of Structure Vibrations

A non-integer order dengue internal transmission model

Experimental Validation of a Novel Auto-Tuning Method for a Fractional Order PI Controller on an UR10 Robot

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