Fractional Order PD and PID Position Control of an Angular Manipulator of 3DOF

dc.creatorRojas Moreno, Arturo
dc.creatorJara Sandoval, Victor
dc.date.accessioned2017-11-28T12:07:05Z
dc.date.available2017-11-28T12:07:05Z
dc.date.created2017-11-28T12:07:05Z
dc.date.issued2013-10
dc.identifierhttps://hdl.handle.net/20.500.12815/44
dc.identifierhttps://doi.org/10.1109/LARS.2013.63
dc.identifier2013 Latin American Robotics Symposium and Competition
dc.description.abstractThis 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.
dc.languageeng
dc.publisherInstitute of Electrical and Electronics Engineers
dc.rightshttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rightsinfo:eu-repo/semantics/openAccess
dc.sourceRepositorio Institucional UTEC
dc.sourceUniversidad de Ingeniería y Tecnología - UTEC
dc.subjectManipulator dynamics
dc.subjectVoltage control
dc.subjectServomotors
dc.subjectAlgorithm design and analysis
dc.titleFractional Order PD and PID Position Control of an Angular Manipulator of 3DOF
dc.typeinfo:eu-repo/semantics/article


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