Adaptive Fractional PID Controller for Robot Manipulator

نویسندگان

H. Delavari

Reza Ghaderi

N. A. Ranjbar

S. Hassan Hosseinnia

S. Momani

چکیده

 *Intelligent Research Group, Babol (Noushirvani) University of Technology, Faculty of Electrical and Computer Engineering, P.O. Box 47135-484, Babol, Iran,( [email protected]) **Hamedan university of Technology, Faculty of Electrical Engineering,([email protected]),Hamedan, Iran *** Department of Electrical, Electronic and Automation Engineering, Industrial Engineering School,University of Extremadura, Badajoz, Spain **** Department of Mathematics, Faculty of Science, University of Jordan, Amman 11942, Jordan

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

ANFIS+PID Hybrid Controller Design for Controlling of a 6-DOF Robot Manipulator and its Error Convergence Analysis

In this paper, an ANFIS+PID hybrid control policy has been addressed to control a 6-degree-of freedom (6-DOF) robotic manipulator. Then its error convergence has been also evaluated. The ability to formulate and estimate the system uncertainties and disturbances along with system dynamics and rejecting the disturbances effect are some advantages of the proposed method in comparing with the co...

متن کامل

An Adaptive Impedance Controller for Robot Manipulators

A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...

متن کامل

Performance analysis of fractional order fuzzy PID controllers applied to a robotic manipulator

A two-link robotic manipulator is a Multi-Input Multi-Output (MIMO), highly nonlinear and coupled system. Therefore, designing an efficient controller for this system is a challenging task for the control engineers. In this paper, the Fractional Order Fuzzy Proportional-Integral-Derivative (FOFPID) controller for a two-link planar rigid robotic manipulator for trajectory tracking problem is inv...

متن کامل

Robust Fractional-order Control of Flexible-Joint Electrically Driven Robots

This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

متن کامل

ANFIS and Fuzzy Tuning of PID Controller for Trajectory Tracking of a Flexible Hydraulically Driven Parallel Robot Machine

Parallel robots exhibit good performance in terms of rigidity, accuracy, and dynamic characteristics. However, parallel robots have complex configurations and their dynamic model is highly nonlinear, and conventional PID controllers are not sufficiently robust for their motion control. In this paper, we have investigated the intelligent control of a hydraulically driven parallel robot based on ...

متن کامل