TY - GEN
T1 - MIMO nonlinear control of a 3DOF robot arm
AU - Rojas-Moreno, Arturo
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/6/28
Y1 - 2017/6/28
N2 - This work has to do with the MIMO (Multiple Input Multiple Output) nonlinear tracking control of an articulated robot arm of 3DOF (3 Degrees of Freedom) employing backstepping, sliding mode, robust predictive, and FO PID (Fractional Order Proportional Integral Derivative) controllers. The controlled outputs (angular positions of the base, forearm, and arm of the robot) as well as the corresponding control forces (armature voltages applied to the DC servomotors) of the designed control systems are plotted for comparison purposes. Simulation studies demonstrate the all designed MIMO nonlinear control systems show good performance.
AB - This work has to do with the MIMO (Multiple Input Multiple Output) nonlinear tracking control of an articulated robot arm of 3DOF (3 Degrees of Freedom) employing backstepping, sliding mode, robust predictive, and FO PID (Fractional Order Proportional Integral Derivative) controllers. The controlled outputs (angular positions of the base, forearm, and arm of the robot) as well as the corresponding control forces (armature voltages applied to the DC servomotors) of the designed control systems are plotted for comparison purposes. Simulation studies demonstrate the all designed MIMO nonlinear control systems show good performance.
UR - https://www.scopus.com/pages/publications/85049575207
U2 - 10.1109/ECON.2017.8247307
DO - 10.1109/ECON.2017.8247307
M3 - Conference contribution
AN - SCOPUS:85049575207
T3 - Proceedings of the 2017 Electronic Congress, E-CON UNI 2017
SP - 1
EP - 4
BT - Proceedings of the 2017 Electronic Congress, E-CON UNI 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 Electronic Congress, E-CON UNI 2017
Y2 - 22 November 2017 through 24 November 2017
ER -