- Tytuł:
- Fractional order based computed torque control of 2-link robotic arm
- Autorzy:
-
Anwaar, Haris
Yixin, Yin
Ijaz, Salman
Ashraf, Muhammad Ammar
Anwaar, Waqas - Powiązania:
- https://bibliotekanauki.pl/articles/103321.pdf
- Data publikacji:
- 2018
- Wydawca:
- Stowarzyszenie Inżynierów i Techników Mechaników Polskich
- Tematy:
-
fractional order PID controller
computed torque controller
2-link robotic arm
Nelder-Mead optimization
regulator PID
regulator momentu obrotowego
2-linkowe ramię robota
optymalizacja Neldera-Meada - Opis:
- 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.
- Źródło:
-
Advances in Science and Technology. Research Journal; 2018, 12, 1; 273-284
2299-8624 - Pojawia się w:
- Advances in Science and Technology. Research Journal
- Dostawca treści:
- Biblioteka Nauki
Artykuł