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Dynamic Modeling and Inverse Optimal PID with Feed-forward Control in H∞ Framework for a Novel 3D Pantograph Manipulator

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  • Control Theory and Applications
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Abstract

This paper affords dynamic modeling and control for a new 3D pantograph manipulator. The new manipulator possesses pure decoupled translational motions and it is characterized by large workspace to size ratio, high speed, rigidity, and accuracy. Euler-Lagrange first type method is used to get the dynamic model. However, the resulted dynamic model is too complex to be used in model-based control techniques. Therefore, a simplified nominal plant is proposed. It allows the inverse dynamic solution efficiently. However, an explicit form of the nominal Coriolis and centrifugal matrix cannot be obtained due to the complicated kinematic terms. Considering these dynamic characteristics as well as the required robust trajectory tracking performance of the manipulator, a new controller is proposed. The new controller is called inverse optimal PID with Feed-Forward Control which is designed in H∞ framework. The new controller has the following merits; robustness, optimality, simple implementation, and efficient execution without the need of explicit forms of dynamic matrices. The extended disturbance in the proposed controller is smaller than that in the inverse optimal PID control (IPID) and contains one type of error contrary to the nonlinear robust motion controller (NRIC). The performance of the proposed controller is compared with those of IPID and NRIC controllers for different trajectories and payloads. The dynamic simulation results via co-simulation of MSC-ADAMS® and MATLAB®/Simulink software prove the robustness of the proposed controller against speed/payload variations. The proposed controller is found to have higher performance compared with IPID and NRIC controllers. These results assure the feasibility of the 3D pantograph manipulator with the proposed controller for pure translational tracking applications.

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Author information

Authors and Affiliations

  1. Department of Mechatronics and Robotics Engineering, Egypt-Japan University of Science and Technology, E-JUST-Alexandria, Alexandria, Egypt

    Manar Lashin

  2. Department of Production Engineering and Mechanical Design, Faculty of Engineering, Mansoura University, Mansoura, Egypt

    Mohamed Fanni

  3. Department of Electrical Engineering, Faculty of Engineering, Assiut University, Assiut, Egypt

    Abdelfatah M. Mohamed

  4. Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan

    Tomoyuki Miyashita

Authors
  1. Manar Lashin
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  2. Mohamed Fanni
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  3. Abdelfatah M. Mohamed
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  4. Tomoyuki Miyashita
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Corresponding author

Correspondence to Manar Lashin.

Additional information

Recommended by Associate Editor Yingmin Jia under the direction of Editor Yingmin Jia. The first author is supported by a scholarship from the Mission Department, Ministry of Higher Education of the Government of Egypt which is gratefully acknowledged.

Manar Lashin was born in Kalyobiya, Egypt, in 1987. She has received the B.Sc. in control and measurements from Benha University, Kalyobiya, Egypt and received the M.Sc. degree in mechatronics and robotics from Egypt-Japan University of Science and Technology (EJUST), Alexandria, Egypt. She is currently working toward a Ph.D. degree in mechatronics and robotics at EJUST. Her research interests include nonlinear control, robust control, robot kinematics, dynamic and modeling.

Mohamed Fanni received the B.E. and M.Sc. degrees in mechanical engineering from Faculty of Engineering of both Cairo University and Mansoura University, Egypt, in 1981 and 1986, respectively and the Ph.D. degree in engineering from Karlsruhe University, Germany, 1993. He is a Professor with the Dept. of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology E-JUST, Alexandria, on leave from Production Engineering and Mechanical Design Department, Faculty of Engineering, Mansoura University, Egypt. His major research interests include robotics engineering, automatic control, and Mechanical Design. His current research focuses on Design and Control of Mechatronic Systems, Surgical Manipulators, Teleoperation systems and Flying/Walking Robots.

Abdelfatah Mohamed received the Ph.D. degree from University of Maryland, College Park, USA in 1990. Since 1990 he has been an Assistant Professor with the Dept. of Electrical Engineering, Assiut University, Egypt. He became an Associate Professor in 1995, and Professor in 2000. From September 1990 to August 1993, He has been a Postdoctoral Fellow at the Dept. of Mechanical Engineering, University of Texas, Austin USA. From April 1996 to April 1997, He has been a visiting Professor at the Dept. of Electrical Engineering, Kanazawa University, Japan. From September 2010 to March 2012 He has been the Head, Dept. of Electrical Engineering, Assiut University, and became the Dean of Faculty of Engineering, Assiut University on March 2012. Currently, he is the Head of the Dept. of Mechatronics and Robotics Engineering, Egypt-Japan University of Science and Technology. His research interest lies in Robust and Intelligent control, Magnetic Bearing systems, Robotics, Industrial drives. Dr. Mohamed is a senior IEEE member.

Tomoyuki Miyashita was born in Japan in 1968. He received the B.E., M.E., and Ph.D. degrees from Waseda University, Tokyo, Japan, in 1990, 1992, and 2001, respectively. He joined Nippon Steel Corporation, Tokyo, Japan, in 1992. Since 1998, he has been with the Graduate School of Engineering, Waseda University, where he is currently a Professor. His main areas of research interest are mechanical design considering dynamical properties, flexible space structures, and their control systems. Dr. Miyashita is a member of The Japan Society of Computer Aided Surgery, The Japan Society of Mechanical Engineers, Japan Society for Design Engineering, The American Institute of Aeronautics and Astronautics, The Institute of Electrical and Electronics Engineers.

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Lashin, M., Fanni, M., Mohamed, A.M. et al. Dynamic Modeling and Inverse Optimal PID with Feed-forward Control in H∞ Framework for a Novel 3D Pantograph Manipulator. Int. J. Control Autom. Syst. 16, 39–54 (2018). https://doi.org/10.1007/s12555-016-0740-0

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  • DOI: https://doi.org/10.1007/s12555-016-0740-0

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