Tracking control for robotic manipulators using fractional order controllers with computed torque control

Jairo Viola, Luis Angel

Research output: Contribution to journalArticle in an indexed scientific journalpeer-review

24 Scopus citations

Abstract

This paper presents the tracking tasks control for a robotic manipulator employing a fractional order PID controller with the computed torque control strategy. The proposed control strategy is contrasted with an integer order PID controller with the computed torque control strategy. Robotic system is a two degree of freedom manipulator simulated using a MSC-ADAMS/MATLAB cosimulation model. The manipulator dynamic model is identified employing the recursive least squares algorithm. Fractional order PID controller is tuned using optimization techniques. Controllers robustness is evaluated against the presence of external disturbances in the joints toques, random noise in the feedback loop and payload variations. Obtained results shows that the fractional order PID controller with the computed torque control strategy has a better performance and robust stability against the presence of the analyzed external disturbances for tracking tasks.

Original languageEnglish
Article number8447353
Pages (from-to)1884-1891
Number of pages8
JournalIEEE Latin America Transactions
Volume16
Issue number7
DOIs
StatePublished - Jul 2018

Bibliographical note

Publisher Copyright:
© 2003-2012 IEEE.

Keywords

  • FOPID
  • Fractional control
  • IOPID
  • MSC-ADAMS/MATLAB cosimulation model

Types Minciencias

  • Artículos de investigación con calidad A2 / Q2

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