Performance investigation of PID controller in trajectory control of two-link robotic manipulator in medical robots

Jayaswal, Kuldeep; Palwalia, D. K.; Kumar, Sandeep

doi:10.1080/09720502.2021.1893444

Cited by 36 publications

(15 citation statements)

References 20 publications

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“…So for the prediction of solar insolation in kWh/m 2 , PVsyst ® software is used. PVSYST can provide solar Global insolation (Direct + Diffuse insolation) very easily according to the azimuth and tilt angle of a solar PV plant [15], [23][24][25][26][27], [35]. PVsyst ® considers true south zero degrees and true North + 180 degrees.…”

Section: A Selection Of Pv Module Direction (Azimuth Angle) To Get Maximum Solar Insolationmentioning

confidence: 99%

Global Solar Insolation Estimation and Investigation: A Case Study of Various Nations and Cities

Jayaswal

Sharma²,

Bhaskar

et al. 2021

IEEE Access

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Solar insolation is sun radiation converted to electrical energy and injected into the utility network using grid-connected solar power plants. Recently, in many nations' electricity grids, the share of power generated using solar photovoltaic (PV) power plants is rapidly increasing. In this case study, solar insolation levels on different latitudes with fix & two seasonal tilt angles have been measured using Meteonorm ® software. For these latitudes, fourteen airport locations have been chosen across the globe. From the case study, it has been evident that a double seasonal tilt angle provides more global insolation as compared to fix tilt angle with a suitable azimuth angle. There is also a reduction in insolation level at fixed and two seasonal tilt angles if going away from the equator. Further, up to three seasonal tilt angles, there is sufficient enhancement has been observed in solar insolation. It is also analyzed that for multiple seasonal tilt angle based solar PV Plant, month-wise tilt angle selection is more important. Further Average, Rectangular, and Trapezoidal methods have been used for estimation of cumulative inclined insolation for a specific period and compared. From the comparison, the trapezoidal method has been found optimal for accurate estimation of cumulative inclined insolation.

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Section: A Selection Of Pv Module Direction (Azimuth Angle) To Get Maximum Solar Insolationmentioning

confidence: 99%

Global Solar Insolation Estimation and Investigation: A Case Study of Various Nations and Cities

Jayaswal

Sharma²,

Bhaskar

et al. 2021

IEEE Access

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“…An intelligent controller was constructed for a two-link robot manipulator based on a fuzzy system [5,6]. PID has been used for different for medical applications [7][8][9]. In 2020, Baccouch et al proposed a  ISSN: 2089-3272 IJEEI, Vol.…”

Section: Introductionmentioning

confidence: 99%

A Robust Controller Design for Simple Robotic Human Arm

Aboud¹,

Aljobouri²,

Al-Amir³

2022

IJEEI

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Nowadays, the manipulator of two degrees of freedom (2DOF) has many applications. One is a human arm that may be utilized in robotic rehabilitation. The 2DOF controlled robot manipulator usually acts like human arms. This paper aims to design a robust, stable controller for the upper limb robotic model. A sliding mode control (SMC) approach is proposed to realize stability, tracing accuracy, and robustness for 2DOF robotic manipulator. Based on the general manipulator equation of motion, two SMCs are designed. The first is designed according to the input-output stability constraints. The second is designed according to the adaptive law. Not only the trajectory tracking is guaranteed but also stability is ensured. The stability of the controllers is examined based on Lyapunov stability criteria. The controllers and the robotic arm are formulated analytically. The MATLAB platform is adopted to examine and validate the proposed controller's performance. The addition of adaptation law in the SMC scheme improves the results for the two designed controllers and shows remarkable trajectory tracking and system stability as well. The improvement rate shows an enhancement of 40.5% and 36.7% for manipulator joints 1 and 2, respectively.

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“…Robotic manipulators are widely used in industry and they play an important role in replacing humans in performing complex jobs that require high accuracy as well as high working frequency [1]. When the dynamic model of the system is known, the model based controller such as PD, PID and some improvements [2], [3], [4] are preferred approaches because of their simplicity and their capacity to apply in practice but the noise resistance of these controllers is not really good. For this reason, the nonlinear control methods including the sliding moed controller [5], [6], [7], the backstepping controller as well as the controllers that combine the nonlinear control method with the linear control method [8], [9], [10] was studied thereby improving the control quality under the influence of external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Optimizing Reference Model for Disturbance Rejection Controller for 3-DoF Robot Manipulator

Hoang¹,

Manh²,

Kim³

et al. 2022

Proceedings of the Seventh International Conference on Research in Intelligent and Computing in Engineering

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In this article, an method is proposed combining optimal control for linear system and disturbances observer to control a 3 degree of freedom (3DoF) robot manipulator. By making the tracking error follow a given stable linear reference model through the observer, an optimal controller LQR will be designed to solve the optimization problem for the reference system, thereby leading to good control quality for the original system. The effectiveness of the method is shown through simulation results performed on Matlab/Simulink.

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Performance investigation of PID controller in trajectory control of two-link robotic manipulator in medical robots

Cited by 36 publications

References 20 publications

Global Solar Insolation Estimation and Investigation: A Case Study of Various Nations and Cities

Global Solar Insolation Estimation and Investigation: A Case Study of Various Nations and Cities

A Robust Controller Design for Simple Robotic Human Arm

Optimizing Reference Model for Disturbance Rejection Controller for 3-DoF Robot Manipulator

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