Fractional order PD and PID position control of an angular manipulator of 3DOF

Arturo Rojas-Moreno; Victor Jara-Sandoval

doi:10.1109/LARS.2013.63

Fractional order PD and PID position control of an angular manipulator of 3DOF

Arturo Rojas-Moreno
, Victor Jara-Sandoval

Department of Electrical and Mechatronics Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

14 Scopus citations

Abstract

This paper deals with the implementation of two position control systems: FOPID (Fractional Order Proportional Integral Derivative) and FOPD (FO Proportional Derivative), which are employed to control simultaneously angular positions of the base, arm, and forearm of an angular manipulator of 3DOF (3 Degrees of Freedom). Intensive simulation studies, using the dynamic nonlinear model of the angular manipulator as well as the designed control laws, permitted to determine the initial values of the tuning parameters of the FOPD and FOPID controllers for realtime implementation. Good performances of the designed control systems were verified via experimentation.

Original language	English
Title of host publication	Proceedings - 2013 IEEE Latin American Robotics Symposium, LARS 2013
Publisher	IEEE Computer Society
Pages	89-94
Number of pages	6
ISBN (Print)	9780769551395
DOIs	https://doi.org/10.1109/LARS.2013.63
State	Published - 2013
Event	2013 10th IEEE Latin American Robotics Symposium, LARS 2013 - Arequipa, Peru Duration: 21 Oct 2013 → 24 Oct 2013

Publication series

Name	Proceedings - 2013 IEEE Latin American Robotics Symposium, LARS 2013

Conference

Conference	2013 10th IEEE Latin American Robotics Symposium, LARS 2013
Country/Territory	Peru
City	Arequipa
Period	21/10/13 → 24/10/13

Keywords

Fractional order PID cotroller
Manipulator control
Real-time control

Access to Document

10.1109/LARS.2013.63

Cite this

@inproceedings{a0c93b6caa8549608ebec77d71b3bb4a,

title = "Fractional order PD and PID position control of an angular manipulator of 3DOF",

abstract = "This paper deals with the implementation of two position control systems: FOPID (Fractional Order Proportional Integral Derivative) and FOPD (FO Proportional Derivative), which are employed to control simultaneously angular positions of the base, arm, and forearm of an angular manipulator of 3DOF (3 Degrees of Freedom). Intensive simulation studies, using the dynamic nonlinear model of the angular manipulator as well as the designed control laws, permitted to determine the initial values of the tuning parameters of the FOPD and FOPID controllers for realtime implementation. Good performances of the designed control systems were verified via experimentation.",

keywords = "Fractional order PID cotroller, Manipulator control, Real-time control",

author = "Arturo Rojas-Moreno and Victor Jara-Sandoval",

year = "2013",

doi = "10.1109/LARS.2013.63",

language = "English",

isbn = "9780769551395",

series = "Proceedings - 2013 IEEE Latin American Robotics Symposium, LARS 2013",

publisher = "IEEE Computer Society",

pages = "89--94",

booktitle = "Proceedings - 2013 IEEE Latin American Robotics Symposium, LARS 2013",

note = "2013 10th IEEE Latin American Robotics Symposium, LARS 2013 ; Conference date: 21-10-2013 Through 24-10-2013",

}

Rojas-Moreno, A & Jara-Sandoval, V 2013, Fractional order PD and PID position control of an angular manipulator of 3DOF. in Proceedings - 2013 IEEE Latin American Robotics Symposium, LARS 2013., 6693276, Proceedings - 2013 IEEE Latin American Robotics Symposium, LARS 2013, IEEE Computer Society, pp. 89-94, 2013 10th IEEE Latin American Robotics Symposium, LARS 2013, Arequipa, Peru, 21/10/13. https://doi.org/10.1109/LARS.2013.63

Fractional order PD and PID position control of an angular manipulator of 3DOF. / Rojas-Moreno, Arturo; Jara-Sandoval, Victor.
Proceedings - 2013 IEEE Latin American Robotics Symposium, LARS 2013. IEEE Computer Society, 2013. p. 89-94 6693276 (Proceedings - 2013 IEEE Latin American Robotics Symposium, LARS 2013).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Fractional order PD and PID position control of an angular manipulator of 3DOF

AU - Rojas-Moreno, Arturo

AU - Jara-Sandoval, Victor

PY - 2013

Y1 - 2013

N2 - This paper deals with the implementation of two position control systems: FOPID (Fractional Order Proportional Integral Derivative) and FOPD (FO Proportional Derivative), which are employed to control simultaneously angular positions of the base, arm, and forearm of an angular manipulator of 3DOF (3 Degrees of Freedom). Intensive simulation studies, using the dynamic nonlinear model of the angular manipulator as well as the designed control laws, permitted to determine the initial values of the tuning parameters of the FOPD and FOPID controllers for realtime implementation. Good performances of the designed control systems were verified via experimentation.

AB - This paper deals with the implementation of two position control systems: FOPID (Fractional Order Proportional Integral Derivative) and FOPD (FO Proportional Derivative), which are employed to control simultaneously angular positions of the base, arm, and forearm of an angular manipulator of 3DOF (3 Degrees of Freedom). Intensive simulation studies, using the dynamic nonlinear model of the angular manipulator as well as the designed control laws, permitted to determine the initial values of the tuning parameters of the FOPD and FOPID controllers for realtime implementation. Good performances of the designed control systems were verified via experimentation.

KW - Fractional order PID cotroller

KW - Manipulator control

KW - Real-time control

UR - https://www.scopus.com/pages/publications/84893616744

U2 - 10.1109/LARS.2013.63

DO - 10.1109/LARS.2013.63

M3 - Conference contribution

AN - SCOPUS:84893616744

SN - 9780769551395

T3 - Proceedings - 2013 IEEE Latin American Robotics Symposium, LARS 2013

SP - 89

EP - 94

BT - Proceedings - 2013 IEEE Latin American Robotics Symposium, LARS 2013

PB - IEEE Computer Society

T2 - 2013 10th IEEE Latin American Robotics Symposium, LARS 2013

Y2 - 21 October 2013 through 24 October 2013

ER -

Fractional order PD and PID position control of an angular manipulator of 3DOF

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