Robustness and Disturbance Rejection of PD/H-∞ Integrated Controller for Flexible Link Manipulator System

Alandoli, Esmail Ali; Sulaiman, M.; Rashid, Mohd Zamzuri Ab

doi:10.25103/jestr.121.04

“…The PD controller is selected due to its simplicity of design and it is widely used. The PD parameters can be easily tuned based on trial and error 13,14 , Equation 2shown the PD control transfer function. Two PD controllers are designed as the PD controller is single input single output.…”

Section: Control Designmentioning

confidence: 99%

“…A proportional-derivative (PD) controller was tuned using root locus 11,12 and manually tuned 13,14 for position control of such robots. The manual tuning method helps to dispense about the mathematical model of a system which one of its advantages.…”

Section: Introductionmentioning

confidence: 99%

2-DOF robot modelling by SimMechanics and PD-FL integrated controller for position control and trajectory tracking

Lee

¹

,

Alandoli

²

,

Vijayakumar

³

2021

F1000Res

0

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Background Due to the high demand of robots to perform several industrial tasks, such as welding, machining, pick and place, position control in robotics has attracted high attention recently. Controllers’ improvement is also continuous specifically in terms of design simplicity and performance accuracy. This research plans to obtain the SimMechanics model of a two-degree of freedom (DOF) robot and to propose an integrated controller of a proportional–derivative (PD) controller and a fuzzy logic (FL) controller. Methodology The SimMechanics model of the 2-DOF robot is obtained using MATLAB SimMechanics toolbox from a CAD assembly design of the 2-DOF robot. Then, the proposed PD-FL integrated controller is designed and simulated in MATLAB Simulink. The PD controller is widely used for its simplicity, but it doesn’t have a satisfactory performance in difficult tasks. Furthermore, the FL controller is also easy for design and implementation even by non-experts in control theory, but it has the disadvantage of long computational time for multi-input systems due to the increased fuzzy rules. Results The FL controller is integrated with the PD controller for enhanced performance of the 2-DOF robot. The PD-FL integrated controller is developed and tested to control the 2-DOF robot for point-to-point position control and also tip trajectory tracking (TTT) such as triangular TTT and rhombic TTT. Conclusion The PD-FL integrated controller demonstrates enhanced performance compared to the conventional PD controller in both point-to-point position control and TTT. Furthermore, the PD-FL integrated controller has the advantage of less fuzzy rules which helps to overcome the computational time issue of the FL controller.

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“…FLMs Classic PD [192] PID [193,194] LQR [195,196,197] Intelligent FLC [198,199] NN [200,201] Robust SMC [202,203,204] H ∞ [205,206] Hybrid [207,208,209,210 and a NN for motion control of a 2-DOF robot in a constrained workspace. The proposed FLC-NN controller has the ability to approximate the system nonlinearity which helps to generate a suitable compensatory control.…”

Section: Manipulator Type Control Type Control Name Referencesmentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

¹

,

Lee

²

2020

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SUMMARY There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.

show abstract

“…A proportional-derivative (PD) controller was tuned using root locus 11,12 and manually tuned 13,14 for position control of such robots. The manual tuning method helps to dispense about the mathematical model of a system which one of its advantages.…”

Section: Introductionmentioning

confidence: 99%

2-DOF robot modelling by SimMechanics and PD-FL integrated controller for position control and trajectory tracking

Lee

¹

,

Alandoli

²

,

Vijayakumar

³

2021

View full text Add to dashboard Cite

Background Due to the high demand of robots to perform several industrial tasks, such as welding, machining, pick and place, position control in robotics has attracted high attention recently. Controllers’ improvement is also continuous specifically in terms of design simplicity and performance accuracy. This research plans to obtain the SimMechanics model of a two-degree of freedom (DOF) robot and to propose an integrated controller of a proportional–derivative (PD) controller and a fuzzy logic (FL) controller. Methodology The SimMechanics model of the 2-DOF robot is obtained using MATLAB SimMechanics toolbox from a CAD assembly design of the 2-DOF robot. Then, the proposed PD-FL integrated controller is designed and simulated in MATLAB Simulink. The PD controller is widely used for its simplicity, but it doesn’t have a satisfactory performance in difficult tasks. Furthermore, the FL controller is also easy for design and implementation even by non-experts in control theory, but it has the disadvantage of long computational time for multi-input systems due to the increased fuzzy rules. Results The FL controller is integrated with the PD controller for enhanced performance of the 2-DOF robot. The PD-FL integrated controller is developed and tested to control the 2-DOF robot for point-to-point position control and also tip trajectory tracking (TTT) such as triangular TTT and rhombic TTT. Conclusion The PD-FL integrated controller demonstrates enhanced performance compared to the conventional PD controller in both point-to-point position control and TTT. Furthermore, the PD-FL integrated controller has the advantage of less fuzzy rules which helps to overcome the computational time issue of the FL controller.

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Robustness and Disturbance Rejection of PD/H-∞ Integrated Controller for Flexible Link Manipulator System

Cited by 11 publications

References 23 publications

2-DOF robot modelling by SimMechanics and PD-FL integrated controller for position control and trajectory tracking

2-DOF robot modelling by SimMechanics and PD-FL integrated controller for position control and trajectory tracking

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

2-DOF robot modelling by SimMechanics and PD-FL integrated controller for position control and trajectory tracking

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