Title
Fractional order PD and PID position control of an angular manipulator of 3DOF
Date Issued
01 January 2013
Access level
open access
Resource Type
conference paper
Author(s)
Jara-Sandoval V.
Publisher(s)
IEEE Computer Society
Abstract
This 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 realtime implementation. Good performances of the designed control systems were verified via experimentation. © 2013 IEEE.
Start page
89
End page
94
Language
English
OCDE Knowledge area
Sistemas de automatización, Sistemas de control
Subjects
Scopus EID
2-s2.0-84893616744
Source
Proceedings - 2013 IEEE Latin American Robotics Symposium, LARS 2013
ISBN of the container
9780769551395
Conference
2013 10th IEEE Latin American Robotics Symposium, LARS 2013
Sources of information:
Directorio de Producción Científica
Scopus