Algerian Journal of Signals and Systems

Yazarlar: Y. Zennir, E. Guechi, L. Chetioui, R. Bendib

Konular:-

DOI:10.51485/ajss.v2i1.32

Anahtar Kelimeler:Modeling,Multi-control approach,Multi-controller contro,Fractional PID controlle,IMC controller,LQG controller,Oustaloup Recursive Approximation method

Özet: The paper focuses on the use of multi-controller approach to control a robot wrist (STÄUBLI robot RX 90). The descriptions of a nonlinear mathematical model of the process have been presented with the local parametric models around operating points. Controller design of a conventional PID, IMC control, LQG control and Hv (loop shaping) has been described around each selected operating points for each local parametric models. Finally , in order to show the efficiency of the proposed method, some simulation results in CAO 3D solid-works and MATLAB environments are given.

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