Design of Augmented Nonlinear PD Controller of DeltaPar4-Like Robot
Joint Authors
Humaidi, Amjad J.
Abdulkareem, Ahmed Ibraheem
Source
Journal of Control Science and Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-07-01
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
This work presents the design of two control schemes for a Delta/Par4-like parallel robot: augmented PD (APD) controller and augmented nonlinear PD (ANPD) controller.
The stability of parallel robot based on nonlinear PD controller has been analyzed and proved based on Lyapunov method.
A comparison study between APD and ANPD controllers has been made in terms of performance and accuracy improvement of trajectory tracking.
Also, another comparison study has been presented between augmented nonlinear PD (ANPD) controller and nonaugmented nonlinear PD (NANPD) controller in order to show the enhancement of introducing the augmented structure on dynamic performance and trajectory tracking accuracy.
The effectiveness of augmented PD controllers (APD and ANPD) and nonaugmented nonlinear PD (NANPD) controller for the considered parallel robot are verified via simulation within the MATLAB environment.
American Psychological Association (APA)
Humaidi, Amjad J.& Abdulkareem, Ahmed Ibraheem. 2019. Design of Augmented Nonlinear PD Controller of DeltaPar4-Like Robot. Journal of Control Science and Engineering،Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1172567
Modern Language Association (MLA)
Humaidi, Amjad J.& Abdulkareem, Ahmed Ibraheem. Design of Augmented Nonlinear PD Controller of DeltaPar4-Like Robot. Journal of Control Science and Engineering No. 2019 (2019), pp.1-11.
https://search.emarefa.net/detail/BIM-1172567
American Medical Association (AMA)
Humaidi, Amjad J.& Abdulkareem, Ahmed Ibraheem. Design of Augmented Nonlinear PD Controller of DeltaPar4-Like Robot. Journal of Control Science and Engineering. 2019. Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1172567
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1172567