基于优化PID控制的连续统机器人动态建模与控制

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}
引用次数: 0

摘要

刚性机器人有着广泛的应用,然而,它们可以管理的任务是有限的。另一方面,连续体机器人的使用由于其灵活性和高度自由度可以扩展到更广泛的区域范围。基本上,它们的建模和控制仍在缓慢进行。为此,本文利用欧拉-拉格朗日方法和泰勒展开,考虑到已有的连续体机器人各弯曲角相互联系的公式,建立了变曲率连续体机器人的简化动力学模型。在此基础上,提出了一种鲁棒优化比例积分导数控制器,用于连续体机器人的轨迹跟踪控制。为了实现简单和高效,有目的地使用了多个离散比例积分导数控制器。然后,采用自适应粒子群算法求解控制参数的最优值。最后,通过跟踪VC和CC连续体机器人的轨迹来评估所提控制器的效率,得到的结果表明,所提控制算法在稳定时间、超调量和对干扰的鲁棒性方面具有良好的性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信