Transient control improvement on pneumatic servoing in robot system using fractional-order PID with finite-time prescribed performance control

Mohd Iskandar Putra, Azahar and Addie Irawan, Hashim and Mohd Syakirin, Ramli (2022) Transient control improvement on pneumatic servoing in robot system using fractional-order PID with finite-time prescribed performance control. In: 2022 12th IEEE Symposium on Computer Applications and Industrial Electronics, ISCAIE 2022 , 21 - 22 May 2022 , Virtual, Online. 206 -210.. ISBN 978-166548703-0 (Published)

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Abstract

This paper presents an effective control strategy for an industrial robot's tri-finger pneumatic gripper (TPG) that incorporates with a finite-time prescribed performance control (FT-PPC) with a fractional-order proportional-integral-derivative (FOPID) controller named as FTPPC-FOPID controller. The experiments were carried out with step input trajectories as a fundamental critical input for pneumatic rod-piston on the TPG unit. The results show that, the proposed FTPPC-FOPID controller as compared to the FOPID controller alone has improved the PPVDC rod-piston positioning performances by eliminating the oscillation on the transient response, thus avoiding overshoot, and providing fast settling time as well as steady-state error. Moreover, the proposed control strategy has improved the PPVDC's piston’s pressures with minimum control input oscillation. Overall results show that the proposed FTPPC can improve the feedback controller such as FOPID in controlling a very nonlinear system such as pneumatic servo system in TPG.

Item Type:	Conference or Workshop Item (Paper)
Additional Information:	Indexed by Scopus
Uncontrolled Keywords:	Finite-time prescribed performance control; Fractional-order PID; Pneumatic robot system; Position control
Subjects:	T Technology > TC Hydraulic engineering. Ocean engineering 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:	19 Mar 2025 01:25
Last Modified:	19 Mar 2025 01:25
URI:	http://umpir.ump.edu.my/id/eprint/44126
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