A New Controller Approach Using Mixed Linear Quadratic Gaussian (LQG) / H-Infinity To Improve Trajectory Tracking Of Nonholonomic Non Wheel System

Ab Rashid, Mohd Zamzuri and Mohd Shah, Hairol Nizam and Sulaiman, Marizan and Ismail, Zool Hilmi (2017) A New Controller Approach Using Mixed Linear Quadratic Gaussian (LQG) / H-Infinity To Improve Trajectory Tracking Of Nonholonomic Non Wheel System. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project focuses on the manipulator at non-holonomic system which utilizes robotic arm as main subject of study. In the area of robotics, the flexible link manipulators (FLMs) are highly demanded for the industrial and medical applications in order to save energy, have faster motion operations and safer to work near to humans. Despite the desired advantages of the FLMs, they are not widely employed in the industrial applications because the less accuracy of position and the vibration due to the flexibility of links. The less accuracy of position and the vibration for the FLMs are still the huge challenges for researchers. Currently, the controllers’ schemes for the position tracking and vibration suppression of FLMs are not robust enough or the controllers’ schemes are extremely complicated. In this research, the traditional Proportional–Integral–Derivative (PID) controller is designed using Ziegler Nichols tuning method and PID controller parameters are manually tuned which appears the weakness of PID controller for the position tracking and vibration suppression of the FLM system. Linear–Quadratic Regulator (LQR) controller is tuned for three different feedback gains. Based on the results, LQR controller is better than PID controller especially for the vibration suppression but still not enough to suppress the oscillations and the transient response the position tracking needs more improvement. H-∞ controller is designed by solving the Algebraic Riccati Equations (AREs) for X∞ and Y∞ , the capability of H-∞ controller to suppress the vibration is perfect while the transient response of the position tracking does not go smoothly. The required improvement for the position tracking of H-∞ controller response is settled by integrating Proportional–Derivative (PD) controller to operate the FLM system with H-∞ controller. The proposed PD/H-∞ integrated controller has demonstrated perfect transient response for the position tracking and has shown its strength to suppress the vibration of the FLM system in short time. The robustness of the proposed PD/H-∞ integrated controller is analyzed by changing the length of the FLM from 50 cm to 65 cm and 80 cm. Increasing the FLM length confirmed the robustness of PD/H-∞ integrated controller for the position tracking and vibration suppression of the FLM system. FLMs can be usable in industrial applications to move objects by providing capable controllers such as PD/H-∞ integrated controller to accurately track them and suppress their vibration.

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