Fractional Order PD and PID Position Control of an Angular Manipulator of 3DOF

Author

Rojas Moreno, Arturo ; Jara Sandoval, Victor

Author_Institution

Dept. of Electron. Eng., Univ. of Eng. & Technol., Lima, Peru

fYear

2013

fDate

21-27 Oct. 2013

Firstpage

89

Lastpage

94

Abstract

This paper deals with the implementation of two position control systems: FOPID (Fractional Order Proportional Integral Derivative) and FOPD (FO Proportional Derivative), which are employed to control simultaneously angular positions of the base, arm, and forearm of an angular manipulator of 3DOF (3 Degrees of Freedom). Intensive simulation studies, using the dynamic nonlinear model of the angular manipulator as well as the designed control laws, permitted to determine the initial values of the tuning parameters of the FOPD and FOPID controllers for real time implementation. Good performances of the designed control systems were verified via experimentation.

Keywords

PD control; control system synthesis; manipulators; nonlinear control systems; position control; simulation; three-term control; 3DOF; FOPD; FOPID; angular manipulator; dynamic nonlinear model; fractional order PD position control; fractional order PID position control; intensive simulation; Algorithm design and analysis; Manipulator dynamics; Servomotors; Voltage control; fractional order PID cotroller; manipulator control; real-time control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics Symposium and Competition (LARS/LARC), 2013 Latin American

Conference_Location

Arequipa

Type

conf

DOI

10.1109/LARS.2013.63

Filename

6693276