article · Journal of Control Science and Engineering · 2019
Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot
Amjad J. Humaidi, Ahmed Ibraheem Abdulkareem
Cited by 44Open access
Abstract
This work presents the design of two control schemes for a Delta/Par4-like parallel robot: augmented PD (APD) controller and augmented nonlinear PD (ANPD) controller. The stability of parallel robot based on nonlinear PD controller has been analyzed and proved based on Lyapunov method. A comparison study between APD and ANPD controllers has been made in terms of performance and accuracy improvement of trajectory tracking. Also, another comparison study has been presented between augmented nonlinear PD (ANPD) controller and nonaugmented nonlinear PD (NANPD) controller in order to show the enhancement of introducing the augmented structure on dynamic performance and trajectory tracking accuracy. The effectiveness of augmented PD controllers (APD and ANPD) and nonaugmented nonlinear PD (NANPD) controller for the considered parallel robot are verified via simulation within the MATLAB environment.
Cite this paper
Humaidi, A. J., & Abdulkareem, A. I. (2019). Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot. Journal of Control Science and Engineering, 2019, 1–11. https://doi.org/10.1155/2019/7689673
Humaidi, Amjad J., and Ahmed Ibraheem Abdulkareem. “Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot.” Journal of Control Science and Engineering, vol. 2019, 2019, pp. 1–11, https://doi.org/10.1155/2019/7689673.
Humaidi, Amjad J., and Ahmed Ibraheem Abdulkareem. 2019. “Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot.” Journal of Control Science and Engineering 2019: 1–11. https://doi.org/10.1155/2019/7689673.
Humaidi, A.J. and Abdulkareem, A.I. (2019) ‘Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot’, Journal of Control Science and Engineering, 2019, pp. 1–11. Available at: https://doi.org/10.1155/2019/7689673.
@article{humaidi2019design,
title = {{Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot}},
author = {Humaidi, Amjad J. and Abdulkareem, Ahmed Ibraheem},
journal = {Journal of Control Science and Engineering},
volume = {2019},
pages = {1--11},
year = {2019},
doi = {10.1155/2019/7689673}
}Made from the index record. Check names, capitalisation and page numbers against the paper. Need another style? AI for Research has over 10,000.