Fractional order PID for tracking control of a parallel robotic manipulator type delta

L. Angel, J. Viola

Producción científica: Contribución a una revistaArtículo en revista científica indexadarevisión exhaustiva

92 Citas (Scopus)

Resumen

This paper presents the tracking control for a robotic manipulator type delta employing fractional order PID controllers with computed torque control strategy. It is contrasted with an integer order PID controller with computed torque control strategy. The mechanical structure, kinematics and dynamic models of the delta robot are descripted. A SOLIDWORKS/MSC-ADAMS/MATLAB cosimulation model of the delta robot is built and employed for the stages of identification, design, and validation of control strategies. Identification of the dynamic model of the robot is performed using the least squares algorithm. A linearized model of the robotic system is obtained employing the computed torque control strategy resulting in a decoupled double integrating system. From the linearized model of the delta robot, fractional order PID and integer order PID controllers are designed, analyzing the dynamical behavior for many evaluation trajectories. Controllers robustness is evaluated against external disturbances employing performance indexes for the joint and spatial error, applied torque in the joints and trajectory tracking. Results show that fractional order PID with the computed torque control strategy has a robust performance and active disturbance rejection when it is applied to parallel robotic manipulators on tracking tasks.
Idioma originalInglés
Páginas (desde-hasta)172-188
Número de páginas17
PublicaciónISA Transactions
Volumen79
DOI
EstadoPublicada - ago. 2018

Nota bibliográfica

Publisher Copyright:
© 2018 ISA

Palabras clave

  • Fractional order PID controller
  • Tracking control
  • Delta robot
  • Parallel robotic manipulator
  • Computed torque control strategy
  • Integer order PID controller

Tipos de Productos Minciencias

  • Artículos de investigación con calidad A1 / Q1

Huella

Profundice en los temas de investigación de 'Fractional order PID for tracking control of a parallel robotic manipulator type delta'. En conjunto forman una huella única.

Citar esto