Position Control of Robotic Systems via an Affine PD-Based Controller: Comparison Between Two Design Approaches

被引：3
|
作者：
Gritli, Hassene [1 ,2 ]
Jenhani, Sahar [1 ,2 ]
Carbone, Giuseppe [3 ]
机构：
[1] Univ Carthage, Higher Inst Informat & Commun Technol, Tunis 1164, Tunisia
[2] Univ Tunis El Manar, Natl Engn Sch Tunis, Lab Robot Informat & Complex Syst RISC Lab LR16ES, Tunis 1002, Tunisia
[3] Univ Calabria, Dept Mech Energy & Management Engn, Via Bucci Cubo 46C, I-87036 Arcavacata Di Rende, CS, Italy
来源：
PROCEEDINGS OF THE 2022 5TH INTERNATIONAL CONFERENCE ON ADVANCED SYSTEMS AND EMERGENT TECHNOLOGIES IC_ASET'2022) | 2022年
关键词：
Position control; Robotic systems; Taylor approximation; Linear model; Affine PD controller; Manipulator robot;
D O I：
10.1109/IC_ASET53395.2022.9765861
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This work is concerned with the position control of robotic systems by means of an affine PD-based control law. The general nonlinear differential equation of the dynamics with a non-constant and nonlinear input matrix is considered. The main idea for the design of the control law lies in linearizing the dynamics of the robot around the desired configuration state by using the first-order Taylor approximation. Thus, by means of the obtained linear model, two different approaches for the design of the feedback gains of the affine PD controller are presented. At the end of this work, a two-degree-of-freedom manipulator robot is adopted to show the efficiency and then to compare between the two design approaches of the affine PD-based control law.
引用
收藏
页码：424 / 432
页数：9
相关论文
共 22 条
  • [1] Determination of Conditions on Feedback Gains for the Position Control of Robotic Systems Under an Affine PD-Based Control Law
    Jenhani, Sahar
    Gritli, Hassene
    Carbone, Giuseppe
    PROCEEDINGS OF THE 2022 5TH INTERNATIONAL CONFERENCE ON ADVANCED SYSTEMS AND EMERGENT TECHNOLOGIES IC_ASET'2022), 2022, : 518 - 526
  • [2] Position Control of Lagrangian Robotic Systems via an Affine PID-Based Controller and Using the LMI Approach
    Jenhani, Sahar
    Gritli, Hassene
    Carbone, Giuseppe
    ADVANCES IN ITALIAN MECHANISM SCIENCE, IFTOMM ITALY 2022, 2022, 122 : 727 - 737
  • [3] Design of an Affine Control Law for the Position Control Problem of Robotic Systems Based on the Development of a Linear Dynamic Model
    Jenhani, Sahar
    Gritli, Hassene
    Carbone, Giuseppe
    PROCEEDINGS OF THE 2022 5TH INTERNATIONAL CONFERENCE ON ADVANCED SYSTEMS AND EMERGENT TECHNOLOGIES IC_ASET'2022), 2022, : 403 - 411
  • [4] Motion Control of Manipulator Robots via Two PD-Based Nonlinear Controllers: Design and Comparative Analysis
    Gritli, Hassene
    Jenhani, Sahar
    Narayan, Jyotindra
    AUTOMATIC CONTROL AND COMPUTER SCIENCES, 2024, 58 (06) : 603 - 616
  • [5] A design of switching PID control systems based on comparison of controller gain
    Ohnishi Y.
    Yamamoto T.
    1600, Institute of Electrical Engineers of Japan (136): : 697 - 702
  • [6] DESIGN OF A RECOMMENDER SYSTEM BASED ON CUSTOMER PREFERENCES: A COMPARISON BETWEEN TWO APPROACHES
    Jomaa, Ines
    Poirson, Emilie
    Da Cunha, Catherine
    Petiot, Jean-Francois
    PROCEEDINGS OF THE ASME 11TH BIENNIAL CONFERENCE ON ENGINEERING SYSTEMS DESIGN AND ANALYSIS, 2012, VOL 2, 2012, : 827 - 836
  • [7] Norm-based design of robust FDI schemes for uncertain systems under feedback control: Comparison of two approaches
    Henry, D.
    Zolghadri, A.
    CONTROL ENGINEERING PRACTICE, 2006, 14 (09) : 1081 - 1097
  • [8] A Modified Feed-forward Compensated PD Controller Design and Simulation Comparison based on Two-link Manipulator
    Wang, Jiyan
    Si, Xufei
    Guo, Rongchun
    ADVANCED COMPOSITE MATERIALS, PTS 1-3, 2012, 482-484 : 1245 - +
  • [9] Comparison of Two Performance Optimization Approaches for Data-driven Design of Fault-Tolerant Control Systems
    Xie, Haozhou
    Hu, Changbin
    Zhang, Yue
    Yang, Xu
    Li, Yueyang
    2018 IEEE 27TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE), 2018, : 951 - 956
  • [10] Comparison of automatic load frequency control in two area power systems using pso algorithm based pid controller and conventional pid controller
    Singh, Ranjit
    Ramesh, L.
    INTERNATIONAL CONFERENCE ON APPLIED PHYSICS, POWER AND MATERIAL SCIENCE, 2019, 1172
123