IMC Multi-Controller Strategies applied on a Manipulator Robot

Authors

  • Y. Zennir Automatic Laboratory of Skikda, Université 20 Août 1955 Skikda, Skikda, Algeria
  • E. Guechi Automatic Laboratory of Skikda, Université 20 Août 1955 Skikda, Skikda, Algeria
  • L. Chetioui Automatic Laboratory of Skikda, Université 20 Août 1955 Skikda, Skikda, Algeria
  • R. Bendib Automatic Laboratory of Skikda, Université 20 Août 1955 Skikda, Skikda, Algeria

DOI:

https://doi.org/10.51485/ajss.v2i1.32

Keywords:

Modeling, Multi-control approach, Multi-controller contro, Fractional PID controlle, IMC controller, LQG controller, Oustaloup Recursive Approximation method

Abstract

The paper focuses on the use of multi-controller approach to control a robot wrist (STÄUBLI robot RX 90). The descriptions of a nonlinear mathematical model of the process have been presented with the local parametric models around operating points. Controller design of a conventional PID, IMC control, LQG control and Hv (loop shaping) has been described around each selected operating points for each local parametric models. Finally , in order to show the efficiency of the proposed method, some simulation results in CAO 3D solid-works and MATLAB environments are given.

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Published

2017-03-15

How to Cite

[1]
Zennir, Y. , Guechi, E., Chetioui, L. and Bendib, R. 2017. IMC Multi-Controller Strategies applied on a Manipulator Robot. Algerian Journal of Signals and Systems . 2, 1 (Mar. 2017), 51-62. DOI:https://doi.org/10.51485/ajss.v2i1.32.

Issue

Vol. 2 No. 1 (2017)

Section

Articles

License

Copyright (c) 2017 Y. Zennir, E. Guechi, L. Chetioui, R. Bendib

Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.