Fractional-order internal model control algorithm based on the force/position control structure of redundant actuation parallel robot
This article proposes a new control structure for the complex redundant actuation parallel robot based on force/position hybrid control structure. The traditional proportional–integral–derivative control method, integer-order internal model control method and fractional-filter internal model control...
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| Published in | International journal of advanced robotic systems Vol. 17; no. 1 |
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| Main Authors | , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
London, England
SAGE Publications
01.01.2020
Sage Publications Ltd SAGE Publishing |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1729-8814 1729-8806 1729-8814 |
| DOI | 10.1177/1729881419892143 |
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| Abstract | This article proposes a new control structure for the complex redundant actuation parallel robot based on force/position hybrid control structure. The traditional proportional–integral–derivative control method, integer-order internal model control method and fractional-filter internal model control–proportional–derivative control method are used in the position structure of force/position hybrid control. The fractional-filter internal model control–proportional–derivative control method is used in the position loop of the permanent magnet synchronous motor to reduce the position error. A fractional-order theory with the internal model control method is used in redundant actuation force control structure, which can improve the control precision of the driving force of the parallel robot. The Admas/Matlab simulation results show that the proposed method outperforms other methods and can obtain good robustness and tracking performance. |
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| AbstractList | This article proposes a new control structure for the complex redundant actuation parallel robot based on force/position hybrid control structure. The traditional proportional–integral–derivative control method, integer-order internal model control method and fractional-filter internal model control–proportional–derivative control method are used in the position structure of force/position hybrid control. The fractional-filter internal model control–proportional–derivative control method is used in the position loop of the permanent magnet synchronous motor to reduce the position error. A fractional-order theory with the internal model control method is used in redundant actuation force control structure, which can improve the control precision of the driving force of the parallel robot. The Admas/Matlab simulation results show that the proposed method outperforms other methods and can obtain good robustness and tracking performance. |
| Author | Hu, Xueheng Zhao, Yongsheng Zhang, Baowei Lam, HK Sheng, Miao Wen, Shuhuan |
| Author_xml | – sequence: 1 givenname: Shuhuan orcidid: 0000-0002-7646-4958 surname: Wen fullname: Wen, Shuhuan email: swen@ysu.edu.cn – sequence: 2 givenname: Xueheng surname: Hu fullname: Hu, Xueheng – sequence: 3 givenname: Baowei surname: Zhang fullname: Zhang, Baowei – sequence: 4 givenname: Miao surname: Sheng fullname: Sheng, Miao – sequence: 5 givenname: HK surname: Lam fullname: Lam, HK – sequence: 6 givenname: Yongsheng surname: Zhao fullname: Zhao, Yongsheng |
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| Cites_doi | 10.1002/cjce.21965 10.1016/j.epsr.2007.09.011 10.1109/TMECH.2012.2208196 10.1016/j.automatica.2013.01.047 10.1016/j.mechatronics.2016.12.003 10.1109/TSMCC.2011.2157682 10.1007/s12555-016-0131-6 10.1016/j.isatra.2015.12.007 10.1109/TIE.2015.2495300 10.1016/j.jprocont.2014.01.014 10.1109/TIE.2011.2162217 10.1109/TII.2012.2222652 10.14257/ijca.2016.9.1.22 10.1155/2012/568796 10.3233/JIFS-169328 10.1080/00207390410001686571 10.1016/j.jprocont.2013.12.011 10.1016/j.isatra.2014.05.007 10.3901/JME.2009.09.152 10.1007/s12555-016-0003-0 10.1016/j.jprocont.2017.04.003 10.1177/0278364908096236 10.1002/apj.497 10.1108/01439911211192493 10.1016/j.engappai.2017.07.002 10.1007/s40815-016-0144-6 10.1108/00022660910954736 10.1080/00207217.2017.1409810 10.1016/j.robot.2016.02.002 10.1016/j.aeue.2010.07.004 |
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| Keywords | force/position hybrid control internal model control Parallel robot fractional order |
| Language | English |
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| References | Zheng, Wang 2014; 2014 Shao, Zhang, Zhao 2008 Kong 2009; 45 Paccot, Andreff, Martinet 2009; 28 Maamar, Rachid 2014; 53 Wang, Wu, Wang 2017; 41 Li, Zhou, Zhao 2016; 61 Xiaonan, Jianhu, Lizhou 2017; 33 Yang, Lin 2016; 63 Wang, Duan, Sun 2016; 9 Bettayeb, Mansouri 2014; 24 Jin, Liu 2014; 92 Shamsuzzoha, Skliar, Lee 2012; 7 Clerget, Grimaldi, Chbre 2017; 60 Liu, Chen, Zhao 2013; 9 Jan, Tseng, Liu 2008; 78 Wen, Zheng, Zhu 2012; 42 Pan, Peng, Wang 2014 Wen, Yu, Zhang 2017; 19 Wen, Qin, Zhang 2016; 79 Debnath 2004; 35 Zheng, Bai, Xue 2013; 20 Shen, Wu, Liu 2003; 29 Marir, Chadli, Bouagada 2017; 15 Bachir, Duvanaud 2011; 65 Omran, Kassem, El-Bayoumi 2009; 81 Shuhuan, Baowei, Pengcheng 2017; 65 Jin, Liu 2014; 24 Liu, Li 2012; 59 Wen, Yuan, Zhu 2012 Jadhav, Chile, Hamde 2017; 15 Cui, Zhang, Yang 2016; PP Cheshmehbeigi 2018; 105 Lizarralde, Leite, Hsu 2013; 49 Meng, Zhang, He 2012; 39 Villarreal-Cervantes, Cruz-Villar, Alvarez-Gallegos 2013; 18 bibr18-1729881419892143 Magin RL. (bibr22-1729881419892143) 2006 bibr9-1729881419892143 bibr35-1729881419892143 bibr4-1729881419892143 Pan J (bibr46-1729881419892143) 2014 Vinopraba T (bibr30-1729881419892143) bibr8-1729881419892143 bibr20-1729881419892143 bibr38-1729881419892143 Xue D (bibr45-1729881419892143) bibr3-1729881419892143 bibr33-1729881419892143 Zheng YJ (bibr44-1729881419892143) 2013; 20 bibr25-1729881419892143 bibr12-1729881419892143 Zheng K (bibr17-1729881419892143) 2014; 2014 bibr42-1729881419892143 Vinagre BM (bibr28-1729881419892143) 2002; 2 bibr34-1729881419892143 Shen H (bibr10-1729881419892143) 2003; 29 bibr21-1729881419892143 bibr2-1729881419892143 bibr32-1729881419892143 bibr7-1729881419892143 bibr40-1729881419892143 bibr29-1729881419892143 Kong X (bibr1-1729881419892143) 2007 bibr15-1729881419892143 Cui P (bibr13-1729881419892143) 2016 bibr16-1729881419892143 Xue D (bibr27-1729881419892143); 7 Watanabe K (bibr41-1729881419892143) 2003; 3 bibr6-1729881419892143 bibr11-1729881419892143 bibr24-1729881419892143 bibr37-1729881419892143 Anh HPH (bibr39-1729881419892143) Shao XJ (bibr43-1729881419892143) 2008 bibr19-1729881419892143 bibr31-1729881419892143 bibr14-1729881419892143 bibr5-1729881419892143 bibr23-1729881419892143 Chen Y. (bibr26-1729881419892143) 2006 bibr36-1729881419892143 |
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| Snippet | This article proposes a new control structure for the complex redundant actuation parallel robot based on force/position hybrid control structure. The... |
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| SubjectTerms | Actuation Algorithms Computer simulation Control algorithms Control theory Hybrid control Permanent magnets Position errors Proportional integral derivative Redundancy Robots Synchronous motors |
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| Title | Fractional-order internal model control algorithm based on the force/position control structure of redundant actuation parallel robot |
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