Abdelhamid Ghoul, S. Djeffal, Kamel Kara, Abdelhadi Aouaichia
{"title":"基于优化PID控制的连续统机器人动态建模与控制","authors":"Abdelhamid Ghoul, S. Djeffal, Kamel Kara, Abdelhadi Aouaichia","doi":"10.1109/ICAECCS56710.2023.10105092","DOIUrl":null,"url":null,"abstract":"Rigid robots are used in a wide range of applications, however, the tasks that they can manage are limited. The use of continuum robots on the other hand can be extended to a broader scope of areas due to their flexibility and high degrees of freedom. Basically, their modeling and control are still ongoing at a slow pace. To this end, in this paper, a simplified dynamic model of a continuum robot with variable curvature is developed using the Euler-Lagrange method and Taylor expansion taking into account a previously-existing formula that links each of the continuum robot’s bending angles to each other. After that, a robust optimized proportional integral derivative controller is proposed for the sake of controlling continuum robots during trajectory tracking. To achieve simplicity and efficiency, multi discrete proportional integral derivative controllers are purposefully used. Then, an adaptive particle swarm optimization is chosen to find the best values for the control parameters. Finally, the efficiency of the proposed controller is evaluated by tracking some trajectories by both VC and CC continuum robots, where the obtained results show that the proposed control algorithm provides good performance in terms of settling time, overshoot, and robustness against disturbances.","PeriodicalId":447668,"journal":{"name":"2023 International Conference on Advances in Electronics, Control and Communication Systems (ICAECCS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Dynamic Modeling and Control of Continuum Robots Using an Optimized PID Control\",\"authors\":\"Abdelhamid Ghoul, S. Djeffal, Kamel Kara, Abdelhadi Aouaichia\",\"doi\":\"10.1109/ICAECCS56710.2023.10105092\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Rigid robots are used in a wide range of applications, however, the tasks that they can manage are limited. The use of continuum robots on the other hand can be extended to a broader scope of areas due to their flexibility and high degrees of freedom. Basically, their modeling and control are still ongoing at a slow pace. To this end, in this paper, a simplified dynamic model of a continuum robot with variable curvature is developed using the Euler-Lagrange method and Taylor expansion taking into account a previously-existing formula that links each of the continuum robot’s bending angles to each other. After that, a robust optimized proportional integral derivative controller is proposed for the sake of controlling continuum robots during trajectory tracking. To achieve simplicity and efficiency, multi discrete proportional integral derivative controllers are purposefully used. Then, an adaptive particle swarm optimization is chosen to find the best values for the control parameters. Finally, the efficiency of the proposed controller is evaluated by tracking some trajectories by both VC and CC continuum robots, where the obtained results show that the proposed control algorithm provides good performance in terms of settling time, overshoot, and robustness against disturbances.\",\"PeriodicalId\":447668,\"journal\":{\"name\":\"2023 International Conference on Advances in Electronics, Control and Communication Systems (ICAECCS)\",\"volume\":\"7 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-03-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2023 International Conference on Advances in Electronics, Control and Communication Systems (ICAECCS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAECCS56710.2023.10105092\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 International Conference on Advances in Electronics, Control and Communication Systems (ICAECCS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAECCS56710.2023.10105092","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Dynamic Modeling and Control of Continuum Robots Using an Optimized PID Control
Rigid robots are used in a wide range of applications, however, the tasks that they can manage are limited. The use of continuum robots on the other hand can be extended to a broader scope of areas due to their flexibility and high degrees of freedom. Basically, their modeling and control are still ongoing at a slow pace. To this end, in this paper, a simplified dynamic model of a continuum robot with variable curvature is developed using the Euler-Lagrange method and Taylor expansion taking into account a previously-existing formula that links each of the continuum robot’s bending angles to each other. After that, a robust optimized proportional integral derivative controller is proposed for the sake of controlling continuum robots during trajectory tracking. To achieve simplicity and efficiency, multi discrete proportional integral derivative controllers are purposefully used. Then, an adaptive particle swarm optimization is chosen to find the best values for the control parameters. Finally, the efficiency of the proposed controller is evaluated by tracking some trajectories by both VC and CC continuum robots, where the obtained results show that the proposed control algorithm provides good performance in terms of settling time, overshoot, and robustness against disturbances.