Muhammad Imran Ullah
MPC and H-Infinity Based Feedback Control of Non-Linear Robotic Manipulator
Ullah, Muhammad Imran; Ajwad, Syed Ali; Irfan, Muhammad; Iqbal, Jamshed
Abstract
Pressing demands of accuracy, repeatability, reliability and productivity in today's robotic applications has highlighted significance of modern control techniques. This research proposes two non-linear design techniques, Model Predictive Control (MPC) and H-infinity control for a six Degree Of Freedom (DOF) robotic arm. The derived dynamics of the manipulator based on Euler Lagrange formulation is used to design the control laws. To characterize and validate the performance, the developed laws are then simulated in MATLAB/Simulink. This paper also investigates the coupling effects between various joints and non-linear dynamics of the manipulator. The controller parameters are fine tuned for optimum response. The control is subjected to various test inputs for investigating trajectory tracking performance. The pilot study shows that the proposed control laws are effective for reducing settling time, overshoot and steady state error for various joints. Simulation results demonstrate that the reference motion trajectories can be followed with adequate accuracy.
Citation
Ullah, M. I., Ajwad, S. A., Irfan, M., & Iqbal, J. (2016, December). MPC and H-Infinity Based Feedback Control of Non-Linear Robotic Manipulator. Presented at FIT 2016 - 14th International Conference on Frontiers of Information Technology, Islamabad, Pakistan
| Presentation Conference Type | Conference Paper (published) |
|---|---|
| Conference Name | FIT 2016 - 14th International Conference on Frontiers of Information Technology |
| Start Date | Dec 19, 2016 |
| End Date | Dec 21, 2016 |
| Acceptance Date | Nov 1, 2016 |
| Publication Date | Mar 2, 2017 |
| Deposit Date | Sep 14, 2021 |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 136-141 |
| Book Title | Proceedings. 14th International Conference on Frontiers of Information Technology — FIT 2016 |
| ISBN | 9781509053001 |
| DOI | https://doi.org/10.1109/FIT.2016.033 |
| Public URL | https://hull-repository.worktribe.com/output/3797003 |