Collaborative position control of pantograph robot using particle swarm optimization

Ali, Nihad; Ayaz, Yasar; Iqbal, Jamshed

doi:10.1007/s12555-019-0931-6

Authors

Nihad Ali

Yasar Ayaz

Dr Jamshed Iqbal J.Iqbal@hull.ac.uk
Senior Lecturer

Abstract

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.

Citation

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
Publication Date	2022
Deposit Date	Sep 15, 2021
Publicly Available Date	Jan 18, 2023
Journal	International Journal of Control, Automation and Systems
Print ISSN	1598-6446
Electronic ISSN	2005-4092
Publisher	Springer Verlag
Peer Reviewed	Peer Reviewed
Volume	20
Issue	1
Pages	198-207
DOI	https://doi.org/10.1007/s12555-019-0931-6
Keywords	Optimal control; Pantograph; Particle swarm optimization; Robotics; Rotary servo; Tracking
Public URL	https://hull-repository.worktribe.com/output/3839729

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