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

Jairo Viola, Luis Angel

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24 Citas (Scopus)

Resumen

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.
Idioma originalInglés
Número de artículo8447353
Páginas (desde-hasta)1884-1891
Número de páginas8
PublicaciónIEEE Latin America Transactions
Volumen16
N.º7
DOI
EstadoPublicada - jul. 2018

Nota bibliográfica

Publisher Copyright:
© 2003-2012 IEEE.

Palabras clave

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

Tipos de Productos Minciencias

  • Artículos de investigación con calidad A2 / Q2

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