Design of fractional order PDD controller for robotic arm using partial cancellation of non minimum phase zero

Design of fractional order PDD controller for robotic arm using partial cancellation of non minimum phase zero

In this paper, a two Degrees of freedom manipulator in the form of Quanser QUBE-Servo 2 system is used. It is an unstable system having non-minimum phase with right half s-plane pole and zero. The conventional controllers did not achieve the loop robustness for these types of systems. In this work,...

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Bibliographic Details
Main Authors: Manpreet Kaur, Swati Sondhi, Venkata Karteek Yanumula
Format: Article
Language:English
Published: Elsevier 2025-01-01
Series:Alexandria Engineering Journal
Subjects:
Robotic manipulator
Rotary inverted pendulum
Quanser QUBE-servo 2 system
Fractional order controller
Non-minimum phase process
Global stability region
Online Access:http://www.sciencedirect.com/science/article/pii/S1110016824011542

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http://www.sciencedirect.com/science/article/pii/S1110016824011542

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