Collaborative position control of pantograph robot using particle swarm optimization
Ali, Nihad; Ayaz, Yasar; Iqbal, Jamshed
Dr Jamshed Iqbal J.Iqbal@hull.ac.uk
This article presents the design and real-time implementation of an optimal collaborative approach to obtain the desired trajectory tracking of two Degree of Freedom (DOF) pantograph end effector position. The proposed controller constructively synergizes the Proportional Integral Derivative (PID) and Linear Quadratic Regulator (LQR) by taking their weighted sum. Particle Swarm Optimization (PSO) algorithm is proposed to optimally tune the gains of PID, weighting matrices of LQR, and their ratio of contributions. Initially, the PID and LQR controller parameters are optimally tuned using PSO. In order to enhance the control effort and to provide more optimal performance, the weightages of each controller are optimally tuned and are kept constant. The collaborative position control strategy is tested against the PID and the LQR controllers via hardware in loop trials on a robotic manipulator. Experimental results are provided to validate the accurate trajectory tracking of the proposed controller. Results demonstrate that the optimal combination renders a significant improvement of 10% in steady state response and about 37% in transient response over the PID and LQR schemes.
Ali, N., Ayaz, Y., & Iqbal, J. (2022). Collaborative position control of pantograph robot using particle swarm optimization. International journal of control, automation, and systems, 20(1), 198-207. https://doi.org/10.1007/s12555-019-0931-6
|Journal Article Type||Article|
|Acceptance Date||Mar 24, 2021|
|Online Publication Date||Jan 17, 2022|
|Deposit Date||Sep 15, 2021|
|Publicly Available Date||Jan 18, 2023|
|Journal||International Journal of Control, Automation and Systems|
|Peer Reviewed||Peer Reviewed|
|Keywords||Optimal control; Pantograph; Particle swarm optimization; Robotics; Rotary servo; Tracking|
This file is under embargo until Jan 18, 2023 due to copyright reasons.
Contact J.Iqbal@hull.ac.uk to request a copy for personal use.
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