Trajectory tracking control based on non-singular fractional derivatives for the PUMA 560 robot arm
| Autor: | José Francisco Gómez-Aguilar, Ricardo Fabricio Escobar-Jiménez, J.E. Solís-Pérez, J. E. Lavín-Delgado |
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| Rok vydání: | 2020 |
| Předmět: |
Physics
Control and Optimization Mean squared error Mechanical Engineering 0211 other engineering and technologies Aerospace Engineering 02 engineering and technology Function (mathematics) Topology 01 natural sciences Computer Science Applications Fractional calculus Modeling and Simulation 0103 physical sciences Programmable Universal Machine for Assembly Trajectory Cuckoo search 010301 acoustics Robotic arm Induction motor 021106 design practice & management |
| Zdroj: | Multibody System Dynamics. 50:259-303 |
| ISSN: | 1573-272X 1384-5640 |
| Popis: | In this paper, a novel hybrid fractional-order control strategy for the PUMA-560 robot manipulator is developed and presented, which combines the derivative of Caputo–Fabrizio and the integral of Atangana–Baleanu, both in the Caputo sense. The fractional-order dynamic model of the system (FODM) is also considered which consists of two models, the robot manipulator model, and the model of the induction motors which are the actuators that drive their joints. The fractional model of the manipulator is obtained using the Euler–Lagrange formulation. On the other hand, for controlling each one of the induction motors, fractional-order controllers ${{\mathop{\mathrm{PI}}\nolimits } ^{\vartheta }}$ based on Atangana–Baleanu in the Caputo sense integral were developed. And for the trajectory tracking control, fractional-order controllers ${{\mathop{\mathrm{PD}}\nolimits } ^{\xi }}$ were developed based on the fractional derivative of Caputo–Fabrizio in the Caputo sense. Also, ordinary PI and PD controllers were developed for the PUMA robot control to compare their performance with the fractional-order controllers. The results obtained demonstrated that the fractional-order controllers have a better capability for tracking trajectory tasks than the integer-order controllers, even when changes of the desired trajectory and external disturbances are considered. Additionally, an end-effector trajectory tracking task for manufacturing applications is also considered. All numerical simulations were performed by using the same orders and gains, demonstrating that the proposed fractional-order ${{\mathop{\mathrm{PI}}\nolimits } ^{\vartheta }}$ and ${{\mathop{\mathrm{PD}}\nolimits } ^{\xi }}$ controllers are robust, under different operating conditions, for tracking trajectory tasks. The fractional-order controllers and the integer-order controllers were tuned applying the cuckoo search optimization algorithm where the root-mean-square error (RMSE) was chosen as the cost function to minimize. |
| Databáze: | OpenAIRE |
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