Title :
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
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;
Conference_Titel :
Robotics Symposium and Competition (LARS/LARC), 2013 Latin American
Conference_Location :
Arequipa
DOI :
10.1109/LARS.2013.63
