A controller based on coefficient diagram method for the robotic manipulators

2002 ◽  
Author(s):  
A. Ucar ◽  
S.E. Hamamci
Keyword(s):  
Robotic Manipulators ◽  
Diagram Method ◽  
Coefficient Diagram Method

scholarly journals A Coefficient Diagram Method Controller with Backstepping Methodology for Robotic Manipulators

2015 ◽  
Vol 66 (5) ◽  
pp. 270-276 ◽  
Author(s):  
Fouad Haouari ◽  
Bali Nourdine ◽  
Mohamed Segir Boucherit ◽  
Mohamed Tadjine
Keyword(s):  
Robotic Manipulators ◽  
Control Law ◽  
Control Procedure ◽  
Parametric Uncertainties ◽  
The Novel ◽  
External Disturbances ◽  
Diagram Method ◽  
Coefficient Diagram Method ◽  
Backstepping Controller ◽  
Puma Robot

AbstractA new robust control procedure for robot manipulators is proposed in this paper. Coefficients diagram method controllers CDM and Backstepping methodology are combined to create the novel control law. Two steps of backstepping on the resulting system are used to design a nonlinear CDM-Backstepping controller. Simulations on a PUMA robot including external disturbances, parametric uncertainties and noises are performed to show the effectiveness and feasibility of the proposed method.

scholarly journals Design and Experimental Investigations on NOx Emission Control Using FOCDM (Fractional-Order-Based Coefficient Diagram Method)-PIλDµ Controller

2020 ◽  
Vol 53 (5) ◽  
pp. 695-703
Author(s):  
Maheswari Chennippan ◽  
Priyanka E. Bhaskaran ◽  
Thangavel Subramaniam ◽  
Balasubramaniam Meenakshipriya ◽  
Kasilingam Krishnamurthy ◽  
...  
Keyword(s):  
Fractional Order ◽  
Packed Column ◽  
Experimental Studies ◽  
Pso Algorithm ◽  
Experimental Investigations ◽  
Nox Removal ◽  
Diagram Method ◽  
Coefficient Diagram Method ◽  
Fractional Order Controller ◽  
G Ratio

This paper aims to explore experimental studies on the NOx removal process by using pilot plant packed column experimental hardware. Physical modeling based on chemical absorption equations is used to estimate the diameter concerning the height and L/G ratio. Hydrogen peroxide is used as the additive for achieving high NOx removal efficiency. The absorbent entering into the packed column has been controlled by varying its flow rate through the fractional order controller. The FOCDM-PIλDµ controller tuning parameters such as KP, τI, τD are determined using CDM (Coefficient Diagram Method) PID control strategy and the additional parameters of FOCDM-PIλDµ controller such as λ and µ are determined based on the PSO algorithm. The comparative analysis is performed with classical controllers like ZN-PID along with the CDM-PID controllers.

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