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Collaborative Position Control of Pantograph Robot Using Particle Swarm Optimization

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  • Robot and Applications
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Abstract

This article presents the design and real-time implementation of an optimal collaborative approach to obtain the desired trajectory tracking of two Degree of Freedom (DOF) pantograph end effector position. The proposed controller constructively synergizes the Proportional Integral Derivative (PID) and Linear Quadratic Regulator (LQR) by taking their weighted sum. Particle Swarm Optimization (PSO) algorithm is proposed to optimally tune the gains of PID, weighting matrices of LQR, and their ratio of contributions. Initially, the PID and LQR controller parameters are optimally tuned using PSO. In order to enhance the control effort and to provide more optimal performance, the weightages of each controller are optimally tuned and are kept constant. The collaborative position control strategy is tested against the PID and the LQR controllers via hardware in loop trials on a robotic manipulator. Experimental results are provided to validate the accurate trajectory tracking of the proposed controller. Results demonstrate that the optimal combination renders a significant improvement of 10% in steady-state response and about 37% in transient response over the PID and LQR schemes.

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Authors and Affiliations

  1. Department of Robotics and Intelligent Machine Engineering, National University of Science and Technology, Islamabad, Pakistan

    Nihad Ali & Yasar Ayaz

  2. Department of Automation, Shanghai Jiao Tong University, Shanghai, China

    Nihad Ali

  3. Department of Computer Science and Technology, Faculty of Science and Engineering, University of Hull, Hull, HU6 7RX, UK

    Jamshed Iqbal

Authors
  1. Nihad Ali
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  2. Yasar Ayaz
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  3. Jamshed Iqbal
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Correspondence to Jamshed Iqbal.

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Nihad Ali received his B.S. degree in electronic and an M.S. degree in control engineering from University of Engineering and technology, Peshawar and COMSATS University, Islamabad, Pakistan, in in 2014 and 2017, respectively. He is currently working as research assistant at National University of Science and technology, Islamabad. His research interests include sliding mode control, adaptive control and optimal control.

Yasar Ayaz received his B.Eng. degree in mechatronics engineering and an M.Eng. degree in electrical engineering from the National University of Sciences and Technology (NUST), Pakistan, in 2003 and 2005, respectively. He received his Ph.D. degree specializing in robotics and machine intelligence from Tohoku University, Japan, in 2009. He is currently working as the Chairman/Central Project Director of National Center of Artificial Intelligence (NCAI) at NUST, Pakistan. His research interests include motion planning, navigation and control of humanoids and mobile robots.

Jamshed Iqbal holds his Ph.D. degree in robotics from Italian Institute of Technology (IIT) and three Master degrees in various fields of Engineering from Finland, Sweden and Pakistan. He is currently working as a Lecturer (Assistant Professor) - Robotics in the University of Hull, UK. Moreover, he is looking after the BEng/MEng Programme as Programme Director (Mechatronics and Robotics). With more than 20 years of multi-disciplinary experience in industry & academia, his research interests include robot analysis and controllers design. He has more than 80 reputed journal papers on his credit with an Hindex of 33. He has been a senior member of IEEE USA since 2016.

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Ali, N., Ayaz, Y. & Iqbal, J. Collaborative Position Control of Pantograph Robot Using Particle Swarm Optimization. Int. J. Control Autom. Syst. 20, 198–207 (2022). https://doi.org/10.1007/s12555-019-0931-6

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  • DOI: https://doi.org/10.1007/s12555-019-0931-6

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