Positioning Control of Robotic Manipulators Subject to Excitation from Non-Ideal Sources
The present work proposes the use of a hybrid controller combining concepts of a PID controller with LQR and a feedforward gain to control the positioning of a 2 DOF robotic arm with flexible joints subject to non-ideal excitations. To characterize the performance of the controls, two cases were stu...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-03-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/12/2/51 |
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| author | Angelo M. Tusset Amarildo E. B. Pereira Jose M. Balthazar Frederic C. Janzen Clivaldo Oliveira Maria E. K. Fuziki Giane G. Lenzi |
| author_facet | Angelo M. Tusset Amarildo E. B. Pereira Jose M. Balthazar Frederic C. Janzen Clivaldo Oliveira Maria E. K. Fuziki Giane G. Lenzi |
| author_sort | Angelo M. Tusset |
| collection | DOAJ |
| description | The present work proposes the use of a hybrid controller combining concepts of a PID controller with LQR and a feedforward gain to control the positioning of a 2 DOF robotic arm with flexible joints subject to non-ideal excitations. To characterize the performance of the controls, two cases were studied. The first case considered the positioning control of the two links in fixed positions, while the second case considered the situation in which the second link is in rotational movement and the first one stays in a fixed position, representing a system with a non-ideal excitation source. In addition to the second case, the sensitivity of the proposed controls for changes in the length and mass of the second link in the rotational movement was analyzed. The results of the simulations showed the effectiveness of the controls, demonstrating that the PID control combined with feedforward gain provides the lowest error for both cases studied; however, it is sensitive to variations in the mass of the second link, in the case of rotational movements. The numerical results also revealed the effectiveness of the PD control obtained by LQR, presenting results similar to the PID control combined with feedforward gain, demonstrating the importance of the optimal control design. |
| first_indexed | 2024-03-11T04:33:56Z |
| format | Article |
| id | doaj.art-5099c6bd29794a689fc62ab995eada54 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-11T04:33:56Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-5099c6bd29794a689fc62ab995eada542023-11-17T21:14:21ZengMDPI AGRobotics2218-65812023-03-011225110.3390/robotics12020051Positioning Control of Robotic Manipulators Subject to Excitation from Non-Ideal SourcesAngelo M. Tusset0Amarildo E. B. Pereira1Jose M. Balthazar2Frederic C. Janzen3Clivaldo Oliveira4Maria E. K. Fuziki5Giane G. Lenzi6Department of Production Engineering, Federal University of Technology-Paraná, Paraná-Doutor Washington Subtil Chueire St. 330, Ponta Grossa 84017-220, BrazilDepartment of Electrical Engineering, Federal University of Technology-Paraná, Paraná-Doutor Washington Subtil Chueire St. 330, Ponta Grossa 84017-220, BrazilDepartment of Electrical Engineering, Federal University of Technology-Paraná, Paraná-Doutor Washington Subtil Chueire St. 330, Ponta Grossa 84017-220, BrazilDepartment of Electrical Engineering, Federal University of Technology-Paraná, Paraná-Doutor Washington Subtil Chueire St. 330, Ponta Grossa 84017-220, BrazilDepartment of Mechanical Engineering, Federal University of Grande Dourados, R. João Rosa Góes, 1761-Vila Progresso, Dourados 79825-070, BrazilDepartment of Chemical Engineering, State University of Maringá, Colombo Ave. 5790, Maringá 87020-900, BrazilDepartment of Production Engineering, Federal University of Technology-Paraná, Paraná-Doutor Washington Subtil Chueire St. 330, Ponta Grossa 84017-220, BrazilThe present work proposes the use of a hybrid controller combining concepts of a PID controller with LQR and a feedforward gain to control the positioning of a 2 DOF robotic arm with flexible joints subject to non-ideal excitations. To characterize the performance of the controls, two cases were studied. The first case considered the positioning control of the two links in fixed positions, while the second case considered the situation in which the second link is in rotational movement and the first one stays in a fixed position, representing a system with a non-ideal excitation source. In addition to the second case, the sensitivity of the proposed controls for changes in the length and mass of the second link in the rotational movement was analyzed. The results of the simulations showed the effectiveness of the controls, demonstrating that the PID control combined with feedforward gain provides the lowest error for both cases studied; however, it is sensitive to variations in the mass of the second link, in the case of rotational movements. The numerical results also revealed the effectiveness of the PD control obtained by LQR, presenting results similar to the PID control combined with feedforward gain, demonstrating the importance of the optimal control design.https://www.mdpi.com/2218-6581/12/2/51non-ideal systemsfeedforward controlPID controlLQR controlrobotic manipulators |
| spellingShingle | Angelo M. Tusset Amarildo E. B. Pereira Jose M. Balthazar Frederic C. Janzen Clivaldo Oliveira Maria E. K. Fuziki Giane G. Lenzi Positioning Control of Robotic Manipulators Subject to Excitation from Non-Ideal Sources Robotics non-ideal systems feedforward control PID control LQR control robotic manipulators |
| title | Positioning Control of Robotic Manipulators Subject to Excitation from Non-Ideal Sources |
| title_full | Positioning Control of Robotic Manipulators Subject to Excitation from Non-Ideal Sources |
| title_fullStr | Positioning Control of Robotic Manipulators Subject to Excitation from Non-Ideal Sources |
| title_full_unstemmed | Positioning Control of Robotic Manipulators Subject to Excitation from Non-Ideal Sources |
| title_short | Positioning Control of Robotic Manipulators Subject to Excitation from Non-Ideal Sources |
| title_sort | positioning control of robotic manipulators subject to excitation from non ideal sources |
| topic | non-ideal systems feedforward control PID control LQR control robotic manipulators |
| url | https://www.mdpi.com/2218-6581/12/2/51 |
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