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 - http://www.scopus.com/inward/record.url?scp=84893616744&partnerID=8YFLogxK
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 -