Hinf-FEEDBACK/FEEDFRWORD linear control applied to the 3DOF DELTA parallel robot

• Autorzy: Thabet Mohammed , Yssaad Benyssaad , Litime Mostafa , Benadda Abdelouahid

Identyfikatory

DOI

10.15199/48.2022.07.06

Warianty tytułu

PL

Sterowanie liniowe Hinf-FEEDBACK/FEEDFRWORD zastosowane do robota równoległego 3DOF DELTA

• Języki publikacji: EN

Abstrakty

EN

In this paper we propose an implementation of a Hinf-FEEDBACK / FEEDFRWORD multivariate linear controller on a 3DOF DELTA parallel robot. First, we linearized the system around an action point by implementing the "LINMODE" function in an MATLAB environment, then we compared the result of the proposed controller with that of the Hinf controller as well as that of the classic PID controller. We have found that the Hinf controller is robust compared to the PID controller and the proposed controller is more robust compared to the Hinf controller and the classic PID controller, and it follows the trajectory very well with good precision. And so we applied these controls to a system checked out from SOLIDWORKS.

PL

W niniejszym artykule zaproponowano implementację wielowariantowego regulatora liniowego Hinf-FEEDBACK / FEEDFRWORD na robocie równoległym DELTA 3DOF. W pierwszej kolejności dokonano linearyzacji układu wokół punktu akcji poprzez implementację funkcji "LINMODE" w środowisku MATLAB, a następnie porównano wynik działania proponowanego regulatora z wynikiem działania regulatora Hinf oraz klasycznego regulatora PID. Stwierdziliśmy, że kontroler Hinf jest odporny w porównaniu do kontrolera PID, a proponowany kontroler jest bardziej odporny w porównaniu do kontrolera Hinf i klasycznego kontrolera PID, i podąża za trajektorią bardzo dobrze z dobrą precyzją. I tak zastosowaliśmy te regulatory do układu sprawdzonego z SOLIDWORKS.

Słowa kluczowe

EN

delta parallel robot; dynamic model; robust Hinf-feedback/feedfrword; RMSE

PL

robot równoległy delta; model dynamiczny; solidny Hinf-feedbcak/feedfrword; RMSE

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2022
• Tom: R. 98, nr 7
• Strony: 36--41
• Opis fizyczny: Bibliogr. 20 poz., rys.

Twórcy

autor

Thabet Mohammed

• University of Relizane Faculty of Science and Technology Department of Electrical Engineering and Automation Laboratory: Industrial Engineering and Sustainable Development GIDD, Algeria

• https://orcid.org/0000-0001-7026-2119

autor

Yssaad Benyssaad

• University of Relizane Faculty of Science and Technology Department of Electrical Engineering and Automation Laboratory: Industrial Engineering and Sustainable Development GIDD, Algeria

• https://orcid.org/0000-0002-4261-3070

autor

Litime Mostafa

• LAAS-National polytechnic school of Oran-Maurice Audin ENPO

• https://orcid.org/0000-0002-4886-9800

autor

Benadda Abdelouahid

• University of Relizane Faculty of Science and Technology Department of Electrical Engineering and Automation Laboratory: Industrial Engineering and Sustainable Development GIDD, Algeria

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).