IMC Multi-Controller Strategies applied on a Manipulator Robot
Keywords:Modeling, Multi-control approach, Multi-controller contro, Fractional PID controlle, IMC controller, LQG controller, Oustaloup Recursive Approximation method
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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Copyright (c) 2017 Y. Zennir, E. Guechi, L. Chetioui, R. Bendib
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.