Analysing Various Control Techniques for Manipulator Robotic System (Robogymnast)  

作　　者：Mahmoud Mohamed Bdereddin Abdul Samad Fatih Anayi Michael Packianather Khalid Yahya 

机构地区：[1]School of Engineering,Cardiff University,Cardiff,CF243AA,UK [2]Faculty of Engineering,University of Zawia,Zawia,16418,Libya [3]Electrical and Electronic Department,Azahra Higher Institution of Sciences and Technology,Azahra,Libya [4]Department of Electrical and Electronics Engineering,Nisantasi University,Istanbul,34398,Turkey

出　　处：《Computers, Materials & Continua》2023年第6期4681-4696,共16页计算机、材料和连续体（英文）

摘　　要：The Robogymnast is a highly complex,three-link system based on the triple-inverted pendulum and is modelled on the human example of a gymnast suspended by their hands from the high bar and executing larger and larger upswings to eventually rotate fully.The links of the Robogymnast correspond respectively to the arms,trunk,and lower limbs of the gymnast,and from its three joints,one is under passive operation,while the remaining two are powered.The passive top joint poses severe challenges in attaining the smooth movement control needed to operate the Robogymnast effectively.This study assesses four types of controllers used for systems operation and identifies how far response stabilisation is achieved with each.The system is simulated using MATLAB Simulink,with findings generated regarding rising and settling time,as well as overshoot.The research primarily seeks to exam-ine the application of a linear quadratic regulator controller,proportional-integral-derivative controller,fuzzy linear quadratic regulator controller and linear quadratic regulator-proportional-integral-derivative controller for this type of system and comparisons between the different controllers to demon-strate successful performance,which highlights the claimed advantages of the proposed system.

关 键 词：Robot gymnast(Robogymnast) proportional-integral-derivative(PID) linear quadratic regulator(LQR) fuzzy linear quadratic regulator(FLQR) Acrobat Robot(Acrobat) 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP241[自动化与计算机技术—控制科学与工程]