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Analysing Various Control Techniques for Manipulator Robotic System (Robogymnast)

Computers, Materials & Continua 2023年第6期75卷 4681-4696页

作者： Mahmoud Mohamed bdereddin a.dul samad Fatih Anayi Michael Packianather Khalid Yahya School of Engineering Cardiff UniversityCardiffCF243AAUK Faculty of Engineering University of ZawiaZawia16418Libya Electrical and Electronic Department Azahra Higher Institution of Sciences and TechnologyAzahraLibya Department of Electrical and Electronics Engineering Nisantasi UniversityIstanbul34398Turkey

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 *** 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 *** passive top joint poses severe challenges in attaining the smooth movement control needed to operate the Robogymnast *** study assesses four types of controllers used for systems operation and identifies how far response stabilisation is achieved with *** system is simulated using MATLAB Simulink,with findings generated regarding rising and settling time,as well as *** 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)

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