Fractional-Order Impedance Control for Robot Manipulator
Impedance control is an important method in robot–environment interaction. In traditional impedance control, the damping force is regarded as a linear viscoelastic model, which limits the description of the dynamic model of the impedance system to a certain extent. For the robot manipulator, the opt...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Fractal and Fractional |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-3110/6/11/684 |
| _version_ | 1827644429879476224 |
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| author | Yixiao Ding Xiaolian Liu Pengchong Chen Xin Luo Ying Luo |
| author_facet | Yixiao Ding Xiaolian Liu Pengchong Chen Xin Luo Ying Luo |
| author_sort | Yixiao Ding |
| collection | DOAJ |
| description | Impedance control is an important method in robot–environment interaction. In traditional impedance control, the damping force is regarded as a linear viscoelastic model, which limits the description of the dynamic model of the impedance system to a certain extent. For the robot manipulator, the optimal impedance parameters of the impedance controller are the key to improve the performance. In this paper, the damping force is described more accurately by fractional calculus than the traditional viscoelastic model, and a fractional-order impedance controller for the robot manipulator is proposed. A practical and systematic tuning procedure based on the frequency design method is developed for the proposed fractional-order impedance controller. The fairness of comparison between the fractional-order impedance controller and the integer-order impedance controller is addressed under the same specifications. Fair comparisons of the two controllers via the simulation and experiment tests show that, in the step response, the fractional-order impedance controller has a better integral time square error (ITSE) result, smaller overshoot and less settling time than the integer-order impedance controller. In terms of anti-disturbance, the fractional-order impedance controller can achieve stability with less recovering time and better ITSE index than integer order impedance controller. |
| first_indexed | 2024-03-09T18:19:32Z |
| format | Article |
| id | doaj.art-50c98549cf6a4a26822e273d2effd997 |
| institution | Directory Open Access Journal |
| issn | 2504-3110 |
| language | English |
| last_indexed | 2024-03-09T18:19:32Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Fractal and Fractional |
| spelling | doaj.art-50c98549cf6a4a26822e273d2effd9972023-11-24T08:25:10ZengMDPI AGFractal and Fractional2504-31102022-11-0161168410.3390/fractalfract6110684Fractional-Order Impedance Control for Robot ManipulatorYixiao Ding0Xiaolian Liu1Pengchong Chen2Xin Luo3Ying Luo4School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Electrical Engineering, Zhengzhou University, Zhengzhou 450001, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaImpedance control is an important method in robot–environment interaction. In traditional impedance control, the damping force is regarded as a linear viscoelastic model, which limits the description of the dynamic model of the impedance system to a certain extent. For the robot manipulator, the optimal impedance parameters of the impedance controller are the key to improve the performance. In this paper, the damping force is described more accurately by fractional calculus than the traditional viscoelastic model, and a fractional-order impedance controller for the robot manipulator is proposed. A practical and systematic tuning procedure based on the frequency design method is developed for the proposed fractional-order impedance controller. The fairness of comparison between the fractional-order impedance controller and the integer-order impedance controller is addressed under the same specifications. Fair comparisons of the two controllers via the simulation and experiment tests show that, in the step response, the fractional-order impedance controller has a better integral time square error (ITSE) result, smaller overshoot and less settling time than the integer-order impedance controller. In terms of anti-disturbance, the fractional-order impedance controller can achieve stability with less recovering time and better ITSE index than integer order impedance controller.https://www.mdpi.com/2504-3110/6/11/684impedance controlfractional-order controlrobot manipulator |
| spellingShingle | Yixiao Ding Xiaolian Liu Pengchong Chen Xin Luo Ying Luo Fractional-Order Impedance Control for Robot Manipulator Fractal and Fractional impedance control fractional-order control robot manipulator |
| title | Fractional-Order Impedance Control for Robot Manipulator |
| title_full | Fractional-Order Impedance Control for Robot Manipulator |
| title_fullStr | Fractional-Order Impedance Control for Robot Manipulator |
| title_full_unstemmed | Fractional-Order Impedance Control for Robot Manipulator |
| title_short | Fractional-Order Impedance Control for Robot Manipulator |
| title_sort | fractional order impedance control for robot manipulator |
| topic | impedance control fractional-order control robot manipulator |
| url | https://www.mdpi.com/2504-3110/6/11/684 |
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