A proportional-derivative-double derivative controller for robot manipulators

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dc.contributor.author Saab, Samer S.
dc.contributor.author Jaafar, Rayana H.
dc.date.accessioned 2019-07-24T08:24:31Z
dc.date.available 2019-07-24T08:24:31Z
dc.date.copyright 2019 en_US
dc.date.issued 2019-07-24
dc.identifier.issn 0020-7179 en_US
dc.identifier.uri http://hdl.handle.net/10725/11131
dc.description.abstract Feeding a controller with acceleration signal can improve system robustness and relative stability. However, neither measurements of acceleration signals nor velocity signals are available in most industrial robot manipulators. Inevitable estimation errors may lead to chattering phenomenon that can excite unmodeled high frequency plant dynamics yielding either severe vibrations in the arm or instability of the control system. This paper proposes a stochastic discrete-time multivariable proportional-derivative-double derivative (PDD) controller with the objective of possessing superior tracking capability in presence of unmodeled joint friction forces while only using joint position measurements. The proposed approach models the estimation errors of velocity and acceleration stochastically. Subsequently, the time-varying PDD gains are derived based on minimising the mean-square state error per-discrete-time instant. We show that the mean-square velocity error is inversely proportional to the square of the sample rate. We demonstrate the tracking superiority of the proposed control experimentally on a four-degree-of-freedom robot manipulator. en_US
dc.language.iso en en_US
dc.title A proportional-derivative-double derivative controller for robot manipulators en_US
dc.type Article en_US
dc.description.version Published en_US
dc.author.school SOE en_US
dc.author.idnumber 199690250 en_US
dc.author.department Electrical And Computer Engineering en_US
dc.description.embargo N/A en_US
dc.relation.journal International Journal of Control en_US
dc.article.pages 1-17 en_US
dc.keywords Multivariable control en_US
dc.keywords Proportional-derivative-double derivative control en_US
dc.keywords Stochastic control en_US
dc.keywords Robot manipulator en_US
dc.identifier.doi https://doi.org/10.1080/00207179.2019.1642518 en_US
dc.identifier.ctation Saab, S. S., & Jaafar, R. H. (2019). A Proportional-Derivative-Double Derivative Controller for Robot Manipulators. International Journal of Control, 1-17. en_US
dc.author.email ssaab@lau.edu.lb en_US
dc.identifier.tou http://libraries.lau.edu.lb/research/laur/terms-of-use/articles.php en_US
dc.identifier.url https://www.tandfonline.com/doi/full/10.1080/00207179.2019.1642518 en_US
dc.orcid.id https://orcid.org/0000-0003-0124-8457 en_US
dc.author.affiliation Lebanese American University en_US

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