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PID-based robust pole assignment tracking control of robot manipulator using linear parameter varying modeling.

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Title: PID-based robust pole assignment tracking control of robot manipulator using linear parameter varying modeling.
Authors: Kazemi, Mohammad Hossein1 (AUTHOR) kazemi@shahed.ac.ir, Fazli, Ali1 (AUTHOR)
Source: Advanced Robotics. Jun2025, Vol. 39 Issue 11, p678-688. 11p.
Subjects: Pole assignment, State feedback (Feedback control systems), Linear matrix inequalities, Robust control, PID controllers, Manipulators (Machinery)
Abstract: Robot manipulators are used widely in industrial applications, where robust trajectory tracking is one of the most important challenges. This paper presents a novel tracking control strategy for robot manipulators. First, a polytopic Linear Parameter Varying (LPV) model is generated and then using it a PID-based control action is addressed to minimize the tracking error. Augmenting a general PID controller state variables to the plant state variables results in an overall plant in the form of a standard robust state feedback control problem where a robust pole assignment controller is designed. An H∞ attenuation level for the tracking error under external disturbances is guaranteed by solving the related Linear Matrix Inequalities (LMIs) to compute the control gains. In fact, the achieved control gains are the same PID coefficients. Simulating the planned controller to the six-Degree-Of-Freedom (DOF) PUMA560 manipulator shows the effectiveness of the proposed strategy for the tracking control problem against external disturbances. [ABSTRACT FROM AUTHOR]
Copyright of Advanced Robotics is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: PID-based robust pole assignment tracking control of robot manipulator using linear parameter varying modeling.
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  Data: <searchLink fieldCode="AR" term="%22Kazemi%2C+Mohammad+Hossein%22">Kazemi, Mohammad Hossein</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> kazemi@shahed.ac.ir</i><br /><searchLink fieldCode="AR" term="%22Fazli%2C+Ali%22">Fazli, Ali</searchLink><relatesTo>1</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Advanced+Robotics%22">Advanced Robotics</searchLink>. Jun2025, Vol. 39 Issue 11, p678-688. 11p.
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  Data: <searchLink fieldCode="DE" term="%22Pole+assignment%22">Pole assignment</searchLink><br /><searchLink fieldCode="DE" term="%22State+feedback+%28Feedback+control+systems%29%22">State feedback (Feedback control systems)</searchLink><br /><searchLink fieldCode="DE" term="%22Linear+matrix+inequalities%22">Linear matrix inequalities</searchLink><br /><searchLink fieldCode="DE" term="%22Robust+control%22">Robust control</searchLink><br /><searchLink fieldCode="DE" term="%22PID+controllers%22">PID controllers</searchLink><br /><searchLink fieldCode="DE" term="%22Manipulators+%28Machinery%29%22">Manipulators (Machinery)</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: Robot manipulators are used widely in industrial applications, where robust trajectory tracking is one of the most important challenges. This paper presents a novel tracking control strategy for robot manipulators. First, a polytopic Linear Parameter Varying (LPV) model is generated and then using it a PID-based control action is addressed to minimize the tracking error. Augmenting a general PID controller state variables to the plant state variables results in an overall plant in the form of a standard robust state feedback control problem where a robust pole assignment controller is designed. An H∞ attenuation level for the tracking error under external disturbances is guaranteed by solving the related Linear Matrix Inequalities (LMIs) to compute the control gains. In fact, the achieved control gains are the same PID coefficients. Simulating the planned controller to the six-Degree-Of-Freedom (DOF) PUMA560 manipulator shows the effectiveness of the proposed strategy for the tracking control problem against external disturbances. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Advanced Robotics is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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      – Type: doi
        Value: 10.1080/01691864.2025.2512397
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      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 11
        StartPage: 678
    Subjects:
      – SubjectFull: Pole assignment
        Type: general
      – SubjectFull: State feedback (Feedback control systems)
        Type: general
      – SubjectFull: Linear matrix inequalities
        Type: general
      – SubjectFull: Robust control
        Type: general
      – SubjectFull: PID controllers
        Type: general
      – SubjectFull: Manipulators (Machinery)
        Type: general
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      – TitleFull: PID-based robust pole assignment tracking control of robot manipulator using linear parameter varying modeling.
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            NameFull: Kazemi, Mohammad Hossein
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            NameFull: Fazli, Ali
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            – D: 01
              M: 06
              Text: Jun2025
              Type: published
              Y: 2025
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            – TitleFull: Advanced Robotics
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