Fractional order based computed torque control of 2-link robotic arm

• Autorzy: Anwaar Haris , Yixin Yin , Ijaz Salman , Ashraf Muhammad Ammar , Anwaar Waqas

Identyfikatory

DOI

10.12913/22998624/85658

• Języki publikacji: EN

Abstrakty

EN

The paper proposes the application of fractional order controller in position tracking control of 2-link nonlinear robotic arm. The nonlinear system dynamics is linearized using inverse dynamics of the model and fractional order PID controller is designed to deal with remaining tracking errors. The optimal values of controller pa-rameters are calculated using Nelder-Mead optimization technique based on desired design criteria. The objective function is designed using weighted sum approach on each performance specification based on transient domain parameters. It can be seen from simulation results that fractional order controller together with computed torque controller improved tracking performance of proposed system as compared to PID controller used in the outer loop. Moreover, the robustness of proposed scheme is checked by applying the disturbance signal at control input channels of 2-link nonlinear robotic arm links.

Słowa kluczowe

EN

fractional order PID controller; computed torque controller; 2-link robotic arm; Nelder-Mead optimization

PL

regulator PID; regulator momentu obrotowego; 2-linkowe ramię robota; optymalizacja Neldera-Meada

• Wydawca: Lublin University of Technology ; Polish Society of Ecological Engineering (PTIE), Branch of PTIE in Lublin
• Czasopismo: Advances in Science and Technology. Research Journal
• Rocznik: 2018
• Tom: Vol. 12, no 1
• Strony: 273--284
• Opis fizyczny: Bibliogr. 41 poz., fig., tab.

Twórcy

autor

Anwaar Haris

• University of Science and Technology, 30 Xueyuan Road, Haidian District, Beijing 100083, P. R. China

autor

Yixin Yin

• University of Science and Technology, 30 Xueyuan Road, Haidian District, Beijing 100083, P. R. China

autor

Ijaz Salman

• Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100083, P. R. China

autor

Ashraf Muhammad Ammar

• University of Science and Technology, 30 Xueyuan Road, Haidian District, Beijing 100083, P. R. China

autor

Anwaar Waqas

• Comsats Institute of Information Technology, Park Road, Tarlai Kalan, Islamabad, 45550, Pakistan

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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).