Discrete time point to point position control of a system with actuator saturation

2005 ◽  
Author(s):  
R. Paden ◽  
M. Tomizuka
Keyword(s):  
Discrete Time ◽  
Position Control ◽  
Actuator Saturation ◽  
Point Position ◽  
Point To Point ◽  
Time Point

scholarly journals 2-DOF robot modelling by SimMechanics and PD-FL integrated controller for position control and trajectory tracking

F1000Research ◽  
2021 ◽  
Vol 10 ◽  
pp. 1045
Author(s):  
Tian Soon Lee ◽  
Esmail Ali Alandoli ◽  
V Vijayakumar
Keyword(s):  
Trajectory Tracking ◽  
Position Control ◽  
Fuzzy Rules ◽  
Computational Time ◽  
Pd Controller ◽  
Point Position ◽  
Integrated Controller ◽  
And Performance ◽  
Point To Point ◽  
Design Simplicity

Background Due to the high demand of robots to perform several industrial tasks, such as welding, machining, pick and place, position control in robotics has attracted high attention recently. Controllers’ improvement is also continuous specifically in terms of design simplicity and performance accuracy. This research plans to obtain the SimMechanics model of a two-degree of freedom (DOF) robot and to propose an integrated controller of a proportional–derivative (PD) controller and a fuzzy logic (FL) controller. Methodology The SimMechanics model of the 2-DOF robot is obtained using MATLAB SimMechanics toolbox from a CAD assembly design of the 2-DOF robot. Then, the proposed PD-FL integrated controller is designed and simulated in MATLAB Simulink. The PD controller is widely used for its simplicity, but it doesn’t have a satisfactory performance in difficult tasks. Furthermore, the FL controller is also easy for design and implementation even by non-experts in control theory, but it has the disadvantage of long computational time for multi-input systems due to the increased fuzzy rules. Results The FL controller is integrated with the PD controller for enhanced performance of the 2-DOF robot. The PD-FL integrated controller is developed and tested to control the 2-DOF robot for point-to-point position control and also tip trajectory tracking (TTT) such as triangular TTT and rhombic TTT. Conclusion The PD-FL integrated controller demonstrates enhanced performance compared to the conventional PD controller in both point-to-point position control and TTT. Furthermore, the PD-FL integrated controller has the advantage of less fuzzy rules which helps to overcome the computational time issue of the FL controller.

scholarly journals 2-DOF robot modelling by SimMechanics and PD-FL integrated controller for position control and trajectory tracking

F1000Research ◽  
2021 ◽  
Vol 10 ◽  
pp. 1045
Author(s):  
Tian Soon Lee ◽  
Esmail Ali Alandoli ◽  
V Vijayakumar
Keyword(s):  
Trajectory Tracking ◽  
Position Control ◽  
Fuzzy Rules ◽  
Computational Time ◽  
Pd Controller ◽  
Point Position ◽  
Integrated Controller ◽  
And Performance ◽  
Point To Point ◽  
Design Simplicity

Background Due to the high demand of robots to perform several industrial tasks, such as welding, machining, pick and place, position control in robotics has attracted high attention recently. Controllers’ improvement is also continuous specifically in terms of design simplicity and performance accuracy. This research plans to obtain the SimMechanics model of a two-degree of freedom (DOF) robot and to propose an integrated controller of a proportional–derivative (PD) controller and a fuzzy logic (FL) controller. Methodology The SimMechanics model of the 2-DOF robot is obtained using MATLAB SimMechanics toolbox from a CAD assembly design of the 2-DOF robot. Then, the proposed PD-FL integrated controller is designed and simulated in MATLAB Simulink. The PD controller is widely used for its simplicity, but it doesn’t have a satisfactory performance in difficult tasks. Furthermore, the FL controller is also easy for design and implementation even by non-experts in control theory, but it has the disadvantage of long computational time for multi-input systems due to the increased fuzzy rules. Results The FL controller is integrated with the PD controller for enhanced performance of the 2-DOF robot. The PD-FL integrated controller is developed and tested to control the 2-DOF robot for point-to-point position control and also tip trajectory tracking (TTT) such as triangular TTT and rhombic TTT. Conclusion The PD-FL integrated controller demonstrates enhanced performance compared to the conventional PD controller in both point-to-point position control and TTT. Furthermore, the PD-FL integrated controller has the advantage of less fuzzy rules which helps to overcome the computational time issue of the FL controller.

Experiments on Point-to-Point Position Control of a Flexible Beam Using Laplace Transform Technique: Part I—Open-Loop

1991 ◽  
Vol 113 (3) ◽  
pp. 432-437 ◽  
Author(s):  
S. P. Bhat ◽  
M. Tanaka ◽  
D. K. Miu
Keyword(s):  
Position Control ◽  
Flexible Structures ◽  
Open Loop ◽  
Engineering Problem ◽  
Flexible Beam ◽  
Loop Control ◽  
Point Position ◽  
Control Functions ◽  
Laplace Transform Technique ◽  
Point To Point

When lightly damped flexible structures are used in high bandwidth applications, the elimination of residual vibration during point-to-point positioning is an important engineering problem. Using the Laplace domain synthesis technique introduced in earlier publications, experiments on the precise point-to-point position control of a flexible beam have been performed. In Part I of this two-part paper, results related to open-loop control are presented. A variety of candidate control functions are evaluated and performance issues related to robustness and sensitivity are investigated.

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