Open Access Open Access  Restricted Access Subscription or Fee Access

Optimal Augmented Linear and Nonlinear PD Control Design for Parallel Robot Based on PSO Tuner

Amjad Jaleel Humaidi(1*), Ahmed A. Oglah(2), Saad Jabbar Abbas(3), Ibraheem K. Ibraheem(4)

(1) Control and Systems Engineering Department, University of Technology, Iraq
(2) Control and Systems Engineering Department, University of Technology, Iraq
(3) Control and Systems Engineering Department, University of Technology, Iraq
(4) Control and Systems Engineering Department, University of Technology, Iraq
(*) Corresponding author


DOI: https://doi.org/10.15866/iremos.v12i5.16298

Abstract


This article presents the optimal control design for trajectory tracking of Delta\Par4-like parallel manipulator controlled by two augmented control schemes: Augmented PD Controller (APD) and Augmented Nonlinear PD (ANPD) Controller. Firstly, the Particle Swarm Optimization (PSO) technique is employed for optimal tuning of design parameters for each control structure in order to reach better dynamic performance. Then, two comparisons are made in order to evaluate the performance of parallel robot based on optimized ANPD and APD controllers. The first comparison is established in terms of tracking error accuracy due to the involved controllers, while the other one is based on the strength of robustness granted by each controller against variation of parallel robot parameters. The verification of performance comparisons is made via simulation within the environment of MATLAB/Simulink programming platform. The circular path is used for performance evaluation of controllers for trajectory tracking control. The simulated results have showed that ANPD controller outperforms the APD controller in terms of tracking accuracy and robustness.
Copyright © 2019 Praise Worthy Prize - All rights reserved.

Keywords


Particle Swarm Optimization; Augmented PD Controller; Augmented NPD Controller; Robustness; Tracking Error Accuracy; Delta\Par4-Like Parallel Robot

Full Text:

PDF


References


Jee-Hwan Rya, Parallel Manipulators-New development (I-Tech Education and Publishing, 2008).
J. Han, From PID to Active Disturbance Rejection Control, IEEE Transaction on Industrial Electronics, Vol.56 (No.3): 900-906, march 2009.
https://doi.org/10.1109/tie.2008.2011621

Amjad J. Humaidi and Ahmed I. Abdulkareem, Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot, Hindawi, Journal of Control Science and Engineering, Vol. 2019, pp. 1-11, July 2019.
https://doi.org/10.1155/2019/7689673

L. Wang, D. Wang, J. Wu, A control strategy of a 2-DOF Parallel Manipulator Fractional Order PDμ, Acta Press, International Journal of Robotics and Automation, Vol.32 (No.4), pp. 206-4861, 2017.
https://doi.org/10.2316/journal.206.2017.4.206-4861

C. Boudjedir, D. Boukhetala, M. Bouri, Nonlinear PD plus sliding mode control with application to a parallel delta robot, Journal of Electrical Engineering, Vol. 69 (No. 5): 329–336, 2018.
https://doi.org/10.2478/jee-2018-0048

L. Angel, J. Viola, Fractional order PID for tracking control of a parallel robotic manipulator type delta, Elsevier, ISA Transactions, Vol. 79, pp.172-188, 2018.
https://doi.org/10.1016/j.isatra.2018.04.010

Weiwei Shang, Shuang Cong, Robust nonlinear control of a planar 2-DOF parallel manipulator with redundant actuation, Elsevier, Robotics and Computer-Integrated Manufacturing Vol. 30 (issue 6), pp. 597-604, 2014.
https://doi.org/10.1016/j.rcim.2014.04.004

H. Saied, A. Chemori, M. El Rafei, C. Francis, F. Pierrot, From Non-Model-Based to Model-Based Control of PKMs: A Comparative Study, The 1st International Congress for the Advancement of Mechanism, Machine, Robotics and Mechatronics Sciences, pp.17-19, Beirut, Lebanon, October 2017.
https://doi.org/10.1007/978-3-319-89911-4_12

M. Rahmani, M. Rahman, Novel robust control of a 7-DOF exoskeleton robot, PLOS ONE, Vol. 13 (No.9), pp. 1-18, September 2018.
https://doi.org/10.1371/journal.pone.0203440

L. Jiang, B. Gao, Z. Zhu, Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot, Hindawi, Shock and Vibration, Vol.2017, pp. 1-18, August 2017.
https://doi.org/10.1155/2017/2762169

D. Corbel, M. Gouttefarde, O. Company and F. Pierrot, Toward 100G with PKM: Is actuation redundancy a good solution for pick and place, IEEE International Conference on Robotics on Automation, pp. 4675-4682, Anchorge, Alaska, USA, 3-8 May 2010.
https://doi.org/10.1109/robot.2010.5509921

Amjad J. Humaidi, and Hussein M. Badr, Linear and nonlinear active disturbance rejection controllers for single-link flexible joint robot manipulator based on PSO tuner, Journal of Engineering Science and Technology Review, Vol. 11 (No. 3):133-138, 2018.
https://doi.org/10.25103/jestr.113.18

R. Eberhart, J. Kennedy, A new optimizer using particle swarm theory, The 6th International Symposium on Micro Machine and Human Science, pp. 39–43, Nagoya, Japan, 4-6 October 1995.
https://doi.org/10.1109/mhs.1995.494215

R. Poli, J. Kennedy, T. Blackwell, Particle swarm optimization: An overview, Springer, Swarm Intelligence, Vol.1 (Issue1), pp. 33–57, 2007.
https://doi.org/10.1007/s11721-007-0002-0

Amjad Humaidi and Mustafa Hameed, Development of a New Adaptive Backstepping Control Design for a Non-Strict and Under-Actuated System Based on a PSO Tuner, MDPI, Information, 10 (38): 1-17, 22 January 2019.
https://doi.org/10.3390/info10020038

F. Pierrot, C. Baradat, V. Nabat, O. Company, S. Krut, and M. Gout-tefarde, Above 40g acceleration for pick-and-place with a new 2-dof pkm, IEEE International Conference on Robotics and Automation, pp. 1794–1800, Kobe, Japan, 12-17 May 2009.
https://doi.org/10.1109/robot.2009.5152193

V. Nabat, Parallel robots with articulated platform- from concept to industrial solution for pick-and-place, Ph.D. dissertation, University of Montpellier, France, 2 march 2007.
Amjad J. Humaidi, Experimental Design and Verification of Extended State Observers for Magnetic Levitation System Based on PSO, Benthom Open, The Open Electrical & Electronic Engineering, Vol.12, pp. 110-120, 2018.

J. Han, Nonlinear PID controller, Acta Autom. Sincia, Vol. 20 (No.4): 487–490, 1994.
Younis, E., Al-Attar, M., Kerdphol, T., Mitani, Y., Optimization of Reactive Compensation in Distribution Networks Based on Moth Swarm Intelligence for Multi-Load Levels, (2017) International Review of Electrical Engineering (IREE), 12 (4), pp. 342-352.
https://doi.org/10.15866/iree.v12i4.12492

Gunantara, N., Sudiarta, P., Antara, I., Multi-Criteria Weights on Ad Hoc Networks Using Particle Swarm Optimization for Optimal Path Pairs, (2018) International Review of Electrical Engineering (IREE), 13 (1), pp. 15-22.
https://doi.org/10.15866/iree.v13i1.14082

Alshammari, B., Dynamic Environmental/Economic Power Dispatch with Prohibited Zones Using Improved Multi-Objective PSO Algorithm, (2016) International Review of Electrical Engineering (IREE), 11 (4), pp. 411-419.
https://doi.org/10.15866/iree.v11i4.8976

Wahjono, E., Anggriawan, D., Sunarno, E., Nugraha, S., Tjahjono, A., Maximum Power Point Tracking of Photovoltaic Module for Battery Charging Based on Modified Particle Swarm Optimization, (2017) International Review on Modelling and Simulations (IREMOS), 10 (1), pp. 77-84.
https://doi.org/10.15866/iremos.v10i1.11174

Dileep, M., Surekha, K., Vishnu, N., Ascent Phase Trajectory Optimization of Launch Vehicle Using Theta-Particle Swarm Optimization with Different Thrust Scenarios, (2016) International Review of Aerospace Engineering (IREASE), 9 (6), pp. 200-207.
https://doi.org/10.15866/irease.v9i6.10521

Remesh, N., Ramanan, R., Lalithambika, V., Fuel Optimum Lunar Soft Landing Trajectory Design Using Different Solution Schemes, (2016) International Review of Aerospace Engineering (IREASE), 9 (5), pp. 131-143.
https://doi.org/10.15866/irease.v9i5.10119

Garg, R., Saluja, N., Implementation of Particle Swarm Optimization Technique for Spectrum Sensing in Cognitive Radio Network, (2018) International Journal on Communications Antenna and Propagation (IRECAP), 8 (5), pp. 412-420.
https://doi.org/10.15866/irecap.v8i5.12822

Magdy, G., Shabib, G., Abdel Elbaset, A., Kerdphol, T., Qudaih, Y., Bevrani, H., Mitani, Y., A Novel Design of Decentralized LFC to Enhance Frequency Stability of Egypt Power System Including Wind Farms, (2018) International Journal on Energy Conversion (IRECON), 6 (1), pp. 17-29.
https://doi.org/10.15866/irecon.v6i1.14516

Boukef, H., Benrejeb, M., Borne, P., Genetic Algorithm and Based Particle Swarm Optimization Comparison for Solving a Flow-Shop Multiobjective Scheduling Problem in Pharmaceutical Industries, (2018) International Journal on Engineering Applications (IREA), 6 (6), pp. 221-226.
https://doi.org/10.15866/irea.v6i6.17000


Refbacks

  • There are currently no refbacks.



Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2022 Praise Worthy Prize