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. |
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| 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] |
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| Database: | Engineering Source |
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