Open Access
ARTICLE
Analysing Various Control Technics for Manipulator Robotic System (Robogymnast)
Mahmoud Mohamed1,2,*, Bdereddin Abdul Samad1,3, Fatih Anayi1, Michael Packianather1, Khalid Yahya4
1 School of Engineering, Cardiff University, Cardiff, CF24 3AA, 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
* Corresponding Authors: Mahmoud Mohamed. Emails: ,
Computers, Materials & Continua 2023, 75(3), 4681-4696. https://doi.org/10.32604/cmc.2023.035312
Received 16 August 2022; Accepted 04 November 2022; Issue published 29 April 2023
Abstract
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 examine the application of a linear quadratic regulator controller, proportionalintegral-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 demonstrate successful performance, which highlights the claimed advantages of the
proposed system.
Keywords
Cite This Article
M. Mohamed, B. A. Samad, F. Anayi, M. Packianather and K. Yahya, "Analysing various control technics for manipulator robotic system (robogymnast),"
Computers, Materials & Continua, vol. 75, no.3, pp. 4681–4696, 2023.