Addie Irawan, Hashim and Mohd Iskandar Putra, Azahar and Raja Mohd Taufika, Raja Ismail (2023) Adjustable convergence rate prescribed performance with fractional-order PID controller for servo pneumatic actuated robot positioning. Cognitive Robotics, 3. pp. 93-106. ISSN 2667-2413. (Published)
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Abstract
This study presents the method for optimal error tracking in position control for a servo pneumatic actuated robot grasper system using a new adjustable convergence rate prescribed performance control (ACR-PPC). It focuses on improving the feedback controller and the fractional-order proportional-integral-derivative (FOPID) controller used for the position control of each robot's finger. Multiple features were considered such as tracking error, rising time, faster transient response with finite-time convergence, oscillation reduction, and pressure stabilization in the pneumatic system. Experiments were conducted using a single finger of a tri-finger pneumatic gripper (TPG) robot, actuated by a single proportional valve with a double-acting cylinder (PPVDC). Two types of input trajectories were tested: step and sine wave inputs, which are common and critical for pneumatic systems. The results show that the proposed method eliminates oscillation and achieves high tracking performance within the prescribed bounds and minimal overshoot as well. The oscillation was suppressed with minimal overshoot and fast response was achieved by tuning the formulated adjustable prescribe performance function, thus improving the rising time response without significant loss of performance.
| Item Type: | Article |
|---|---|
| Additional Information: | Indexed by scopus |
| Uncontrolled Keywords: | Adjustable convergence rate; Finite-time prescribed performance control; Pneumatic actuator; Pneumatic robot |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Faculty/Division: | Faculty of Electrical and Electronic Engineering Technology Institute of Postgraduate Studies |
| Depositing User: | Assoc.Prof Addie Irawan |
| Date Deposited: | 20 Jun 2023 05:24 |
| Last Modified: | 20 Jun 2023 05:24 |
| URI: | http://umpir.ump.edu.my/id/eprint/37684 |
| Download Statistic: | View Download Statistics |
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