Fractional Order PD and PID Position Control of an Angular Manipulator of 3DOF
Descripción del Articulo
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...
| Autores: | , |
|---|---|
| Formato: | artículo |
| Fecha de Publicación: | 2013 |
| Institución: | Universidad de Ingeniería y tecnología |
| Repositorio: | UTEC-Institucional |
| Lenguaje: | inglés |
| OAI Identifier: | oai:repositorio.utec.edu.pe:20.500.12815/44 |
| Enlace del recurso: | https://hdl.handle.net/20.500.12815/44 https://doi.org/10.1109/LARS.2013.63 |
| Nivel de acceso: | acceso abierto |
| Materia: | Manipulator dynamics Voltage control Servomotors Algorithm design and analysis |
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| dc.title.es_PE.fl_str_mv |
Fractional Order PD and PID Position Control of an Angular Manipulator of 3DOF |
| title |
Fractional Order PD and PID Position Control of an Angular Manipulator of 3DOF |
| spellingShingle |
Fractional Order PD and PID Position Control of an Angular Manipulator of 3DOF Rojas Moreno, Arturo Manipulator dynamics Voltage control Servomotors Algorithm design and analysis |
| title_short |
Fractional Order PD and PID Position Control of an Angular Manipulator of 3DOF |
| title_full |
Fractional Order PD and PID Position Control of an Angular Manipulator of 3DOF |
| title_fullStr |
Fractional Order PD and PID Position Control of an Angular Manipulator of 3DOF |
| title_full_unstemmed |
Fractional Order PD and PID Position Control of an Angular Manipulator of 3DOF |
| title_sort |
Fractional Order PD and PID Position Control of an Angular Manipulator of 3DOF |
| author |
Rojas Moreno, Arturo |
| author_facet |
Rojas Moreno, Arturo Jara Sandoval, Victor |
| author_role |
author |
| author2 |
Jara Sandoval, Victor |
| author2_role |
author |
| dc.contributor.author.fl_str_mv |
Rojas Moreno, Arturo Jara Sandoval, Victor |
| dc.subject.es_PE.fl_str_mv |
Manipulator dynamics Voltage control Servomotors Algorithm design and analysis |
| topic |
Manipulator dynamics Voltage control Servomotors Algorithm design and analysis |
| description |
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 real time implementation. Good performances of the designed control systems were verified via experimentation. |
| publishDate |
2013 |
| dc.date.accessioned.none.fl_str_mv |
2017-11-28T12:07:05Z |
| dc.date.available.none.fl_str_mv |
2017-11-28T12:07:05Z |
| dc.date.issued.fl_str_mv |
2013-10 |
| dc.type.es_PE.fl_str_mv |
info:eu-repo/semantics/article |
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article |
| dc.identifier.uri.none.fl_str_mv |
https://hdl.handle.net/20.500.12815/44 |
| dc.identifier.doi.es_PE.fl_str_mv |
https://doi.org/10.1109/LARS.2013.63 |
| dc.identifier.journal.es_PE.fl_str_mv |
2013 Latin American Robotics Symposium and Competition |
| url |
https://hdl.handle.net/20.500.12815/44 https://doi.org/10.1109/LARS.2013.63 |
| identifier_str_mv |
2013 Latin American Robotics Symposium and Competition |
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eng |
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eng |
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info:eu-repo/semantics/openAccess |
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http://creativecommons.org/licenses/by-nc-nd/4.0/ |
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openAccess |
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http://creativecommons.org/licenses/by-nc-nd/4.0/ |
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application/pdf |
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Institute of Electrical and Electronics Engineers |
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Repositorio Institucional UTEC Universidad de Ingeniería y Tecnología - UTEC |
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reponame:UTEC-Institucional instname:Universidad de Ingeniería y tecnología instacron:UTEC |
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Rojas Moreno, ArturoJara Sandoval, Victor2017-11-28T12:07:05Z2017-11-28T12:07:05Z2013-10https://hdl.handle.net/20.500.12815/44https://doi.org/10.1109/LARS.2013.632013 Latin American Robotics Symposium and CompetitionThis 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 real time implementation. 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La información contenida en este registro es de entera responsabilidad de la institución que gestiona el repositorio institucional donde esta contenido este documento o set de datos. El CONCYTEC no se hace responsable por los contenidos (publicaciones y/o datos) accesibles a través del Repositorio Nacional Digital de Ciencia, Tecnología e Innovación de Acceso Abierto (ALICIA).
