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Comparison between ultra-local model and auto-Tuning pid controls strategies applied to the redundant manipulator robot for several inputs

Author
Zribi, S.; Boussetta , W.; Tlijani, H.; Knani, J.; Puig, V.
Type of activity
Presentation of work at congresses
Name of edition
STA 2017 - 18th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering
Date of publication
2017
Presentation's date
2017-12-21
Book of congress proceedings
2017 18th international Conference on Sciences and Techniques of Automatic Control and Computer Engineering, STA 2017 - Proceedings
First page
350
Last page
355
DOI
https://doi.org/10.1109/STA.2017.8314919 Open in new window
URL
https://ieeexplore.ieee.org/document/8314919 Open in new window
Abstract
This paper deals with the development of an auto-Tuning PID and an ultra-local model controls strategies applied to a redundant manipulator robot with a load on its endpoint. This system is dynamically modeled using finite element and Euler-Lagrange approaches. The proposed approach of ultra-local model control consists of estimating the ultra-local model parameter via an algebraic derivation approach. In order to validate its efficiency towards the flexibility's structure, the ultra-local model...
Keywords
Algebraic derivation, Auto-Tuning pid, Auto-tuning PID controllers, Autotuning, Euler-Lagrange, Hyperbolic profile, Hyperbolic profiles, Industrial manipulators, Its efficiencies, Local model, Manipulator mechanism, Process control, Redundant, Redundant manipulators, Three term control systems, Ultra-local model control Automation
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Advanced Control Systems

Participants

  • Zribi, Sameh  (author and speaker )
  • Boussetta, W.  (author and speaker )
  • Tlijani, Hatem  (author and speaker )
  • Knani, Jilani  (author and speaker )
  • Puig Cayuela, Vicenç  (author and speaker )