Reducing the Delay Time and Tracking Trajectory of the Robot SCARA Using the Fractional PID Controller
In recent years, there has been a significant increase in the study of fractional systems and fractional-order control (FOC), which has proven effective in enhancing plant dynamics, particularly in terms of disturbance rejection and response time improvement. Traditionally, the Proportional-Integra...
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IMS Vogosca
2024-11-01
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| Series: | Science, Engineering and Technology |
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| Online Access: | https://setjournal.com/SET/article/view/188 |
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| author | Yassine Bensafia Abdelhakim Idir Khatir Khettab |
| author_facet | Yassine Bensafia Abdelhakim Idir Khatir Khettab |
| author_sort | Yassine Bensafia |
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In recent years, there has been a significant increase in the study of fractional systems and fractional-order control (FOC), which has proven effective in enhancing plant dynamics, particularly in terms of disturbance rejection and response time improvement. Traditionally, the Proportional-Integral-Derivative (PID) controller has been valued for its simplicity and ease of parameter adjustment. However, as the complexity of control systems escalates, several specialised PID controllers have been designed to address specific challenges. Despite its effectiveness, the conventional PID controller often faces limitations in complex systems requiring high precision and adaptive dynamics. Researchers have increasingly focused on the Fractional Proportional-Integral-Derivative (FPID) controller to address these deficiencies. The FPID controller incorporates fractional integrators and derivatives, facilitating improved tuning of system dynamics and offering increased control over response characteristics. This study introduces a fractional integrator in PID control to improve trajectory tracking and reduce delay time in Selective Compliance Articulated Robot Arm (SCARA) systems. Unlike traditional PID controllers, which may struggle with high-frequency noise and parameter variations, the fractional integrator offers enhanced noise suppression and adaptability. The fractional PID approach is relevant beyond robotics, including many systems like temperature control, electrical motor regulation, power electronics, and biomedical control systems, where accuracy and resilience to disturbances are essential. Unlike traditional PID, the proposed technique offers more adaptability in handling transient responses and greater disturbance suppression, making it a viable solution for modern, complex control environments.
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| format | Article |
| id | doaj-art-e03f2bc20c1546f69696948fea18457e |
| institution | Kabale University |
| issn | 2831-1043 2744-2527 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | IMS Vogosca |
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| spelling | doaj-art-e03f2bc20c1546f69696948fea18457e2025-01-05T22:04:13ZengIMS VogoscaScience, Engineering and Technology2831-10432744-25272024-11-015110.54327/set2025/v5.i1.188Reducing the Delay Time and Tracking Trajectory of the Robot SCARA Using the Fractional PID ControllerYassine Bensafia0https://orcid.org/0000-0003-1760-3636Abdelhakim Idir1https://orcid.org/0000-0002-3510-5932Khatir Khettab2https://orcid.org/0000-0003-2985-0466LISEA Laboratory, Electrical Engineering Department, Faculty of Sciences and Applied sciences, University of Bouira, AlgeriaElectrical Engineering Department, University of M’sila 28000, Road Bourdj Bou Arreiridj, M'sila 28000 Algeria. / Applied Automation Laboratory, F.H.C, University of Boumerdes, 35000 Boumerdes, Algeria.Electrical Engineering Department, University of M’sila 28000, Road Bourdj Bou Arreiridj, M'sila 28000 Algeria. In recent years, there has been a significant increase in the study of fractional systems and fractional-order control (FOC), which has proven effective in enhancing plant dynamics, particularly in terms of disturbance rejection and response time improvement. Traditionally, the Proportional-Integral-Derivative (PID) controller has been valued for its simplicity and ease of parameter adjustment. However, as the complexity of control systems escalates, several specialised PID controllers have been designed to address specific challenges. Despite its effectiveness, the conventional PID controller often faces limitations in complex systems requiring high precision and adaptive dynamics. Researchers have increasingly focused on the Fractional Proportional-Integral-Derivative (FPID) controller to address these deficiencies. The FPID controller incorporates fractional integrators and derivatives, facilitating improved tuning of system dynamics and offering increased control over response characteristics. This study introduces a fractional integrator in PID control to improve trajectory tracking and reduce delay time in Selective Compliance Articulated Robot Arm (SCARA) systems. Unlike traditional PID controllers, which may struggle with high-frequency noise and parameter variations, the fractional integrator offers enhanced noise suppression and adaptability. The fractional PID approach is relevant beyond robotics, including many systems like temperature control, electrical motor regulation, power electronics, and biomedical control systems, where accuracy and resilience to disturbances are essential. Unlike traditional PID, the proposed technique offers more adaptability in handling transient responses and greater disturbance suppression, making it a viable solution for modern, complex control environments. https://setjournal.com/SET/article/view/188Fractional Control (FC)Approximation MethodsSelective Compliance Articulated Robot Arm (SCARA)Performance Analysis |
| spellingShingle | Yassine Bensafia Abdelhakim Idir Khatir Khettab Reducing the Delay Time and Tracking Trajectory of the Robot SCARA Using the Fractional PID Controller Science, Engineering and Technology Fractional Control (FC) Approximation Methods Selective Compliance Articulated Robot Arm (SCARA) Performance Analysis |
| title | Reducing the Delay Time and Tracking Trajectory of the Robot SCARA Using the Fractional PID Controller |
| title_full | Reducing the Delay Time and Tracking Trajectory of the Robot SCARA Using the Fractional PID Controller |
| title_fullStr | Reducing the Delay Time and Tracking Trajectory of the Robot SCARA Using the Fractional PID Controller |
| title_full_unstemmed | Reducing the Delay Time and Tracking Trajectory of the Robot SCARA Using the Fractional PID Controller |
| title_short | Reducing the Delay Time and Tracking Trajectory of the Robot SCARA Using the Fractional PID Controller |
| title_sort | reducing the delay time and tracking trajectory of the robot scara using the fractional pid controller |
| topic | Fractional Control (FC) Approximation Methods Selective Compliance Articulated Robot Arm (SCARA) Performance Analysis |
| url | https://setjournal.com/SET/article/view/188 |
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