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A Hybrid PID-LQR Control Applied in Positioning Control of Robotic Manipulators Subject to Excitation from Non-ideal Sources

dc.contributor.authorTusset, A. M.
dc.contributor.authorDe Lima, J. J.
dc.contributor.authorJanzen, F. C.
dc.contributor.authorFilho, P. L. Paula
dc.contributor.authorJunior, J. A. G. Luz [UNESP]
dc.contributor.authorBalthazar, Jose Manoel [UNESP]
dc.contributor.authorKossoski, A. [UNESP]
dc.contributor.institutionFederal University of Technology-Paraná
dc.contributor.institutionUniversidade Estadual Paulista (UNESP)
dc.date.accessioned2023-03-01T23:41:00Z
dc.date.available2023-03-01T23:41:00Z
dc.date.issued2022-01-01
dc.description.abstractThis paper proposes the use of a hybrid controller that combines concepts of the Proportional-Integral-Derivative (PID) controller with the Linear-Quadratic-Regulator (LQR) and a Feedforward gain to control the positioning of a 2 DOF robotic arm with flexible joints. As the joints are flexible, there is in this system a non-ideal coupling between the links of the robotic arm, where the angular movement of one link can generate oscillations that spread and impact the response of the system. The non-ideal excitation source originates from the coupling between the electric motor used to move the link of the robotic arm with the flexible element of the structure. These mechanical oscillations interfere in the positioning of the motor, and thus in the electrical power consumed by the system. In the results section of this work, numerical simulations are used to show the functionality and performance of the proposed controller in the studied system.en
dc.description.affiliationFederal University of Technology-Paraná
dc.description.affiliationSao Paulo State University-São Paulo
dc.description.affiliationUnespSao Paulo State University-São Paulo
dc.format.extent393-403
dc.identifierhttp://dx.doi.org/10.1007/978-3-030-96603-4_21
dc.identifier.citationMechanisms and Machine Science, v. 116, p. 393-403.
dc.identifier.doi10.1007/978-3-030-96603-4_21
dc.identifier.issn2211-0992
dc.identifier.issn2211-0984
dc.identifier.scopus2-s2.0-85128620847
dc.identifier.urihttp://hdl.handle.net/11449/241759
dc.language.isoeng
dc.relation.ispartofMechanisms and Machine Science
dc.sourceScopus
dc.subjectFeedforward control
dc.subjectLQR control
dc.subjectNon-ideal systems
dc.subjectPID control
dc.subjectRobotic manipulators
dc.titleA Hybrid PID-LQR Control Applied in Positioning Control of Robotic Manipulators Subject to Excitation from Non-ideal Sourcesen
dc.typeCapítulo de livro
unesp.author.orcid0000-0003-3144-0407[1]
unesp.author.orcid0000-0001-6342-6162[2]
unesp.author.orcid0000-0001-8215-4510[3]
unesp.author.orcid0000-0002-6291-9237[4]
unesp.author.orcid0000-0003-1296-7932[5]
unesp.author.orcid0000-0002-9796-3609[6]
unesp.author.orcid0000-0003-3163-5079[7]
unesp.campusUniversidade Estadual Paulista (Unesp), Instituto de Geociências e Ciências Exatas, Rio Claropt
unesp.departmentEstatística, Matemática Aplicada e Computação - IGCEpt

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