Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot
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...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2019/7689673 |
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| _version_ | 1850169714575147008 |
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| author | Amjad J. Humaidi Ahmed Ibraheem Abdulkareem |
| author_facet | Amjad J. Humaidi Ahmed Ibraheem Abdulkareem |
| author_sort | Amjad J. Humaidi |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-a9c8c501a2a34568b02bc0696ca23d24 |
| institution | OA Journals |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-a9c8c501a2a34568b02bc0696ca23d242025-08-20T02:20:40ZengWileyJournal of Control Science and Engineering1687-52491687-52572019-01-01201910.1155/2019/76896737689673Design of Augmented Nonlinear PD Controller of Delta/Par4-Like RobotAmjad J. Humaidi0Ahmed Ibraheem Abdulkareem1Control and Systems Engineering Department, University of Technology, Baghdad, IraqControl and Systems Engineering Department, University of Technology, Baghdad, IraqThis 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.http://dx.doi.org/10.1155/2019/7689673 |
| spellingShingle | Amjad J. Humaidi Ahmed Ibraheem Abdulkareem Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot Journal of Control Science and Engineering |
| title | Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot |
| title_full | Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot |
| title_fullStr | Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot |
| title_full_unstemmed | Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot |
| title_short | Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot |
| title_sort | design of augmented nonlinear pd controller of delta par4 like robot |
| url | http://dx.doi.org/10.1155/2019/7689673 |
| work_keys_str_mv | AT amjadjhumaidi designofaugmentednonlinearpdcontrollerofdeltapar4likerobot AT ahmedibraheemabdulkareem designofaugmentednonlinearpdcontrollerofdeltapar4likerobot |