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On the trajectory tracking control for an SCARA robot manipulator in a fractional model driven by induction motors with PSO tuning

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Abstract

This paper describes the fractional modeling and control of an industrial selective compliant assembly robot arm (SCARA); the fractional model was obtained by using the Euler–Lagrange and Hamilton formalisms. Each joint of the robot manipulator was driven by an induction motor. In this work, the fractional model of each induction motor was formulated, and the matching of the induction motors with the SCARA robot is shown. For comparison purposes, the SCARA robot control was formulated by conventional PI and PD and by fractional PIς and PDδ controllers. So each induction motor was controlled by using PI and fractional PIς controllers, and for trajectory tracking control, PD and fractional PDδ controllers were designed. For tuning the PI, PIς, PD, and PDδ controllers, the PSO algorithm was used; the same restrictions were used for the PI and PD classical controllers, and ITAE index was used as a cost function to be minimized. For computing the fractional derivatives and to obtain the numerical solution of the system, the Riemann–Liouville and Grünwald–Letnikov approaches were used. The numerical simulations have shown the effectiveness of the use of fractional PIς and PDδ controllers.

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Acknowledgements

The authors appreciate the constructive remarks and suggestions of the anonymous referees that helped improve the paper. Antonio Coronel Escamilla and Felipe Torres acknowledge the support provided by CONACyT through the assignment doctoral fellowship. José Francisco Gómez Aguilar acknowledges the support provided by CONACyT: Cátedras CONACyT para jóvenes investigadores 2014.

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Authors and Affiliations

  1. Centro Nacional de Investigación, y Desarrollo Tecnológico, Tecnológico Nacional de México, Interior Internado Palmira S/N, Col. Palmira, C.P. 62490, Cuernavaca, Morelos, Mexico

    A. Coronel-Escamilla, F. Torres, R. F. Escobar-Jiménez & G. V. Guerrero-Ramírez

  2. CONACyT-Centro Nacional de Investigación y Desarrollo Tecnológico, Tecnológico Nacional de México, Interior Internado Palmira S/N, Col. Palmira, C.P. 62490, Cuernavaca, Morelos, Mexico

    J. F. Gómez-Aguilar

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  1. A. Coronel-Escamilla
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  2. F. Torres
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  3. J. F. Gómez-Aguilar
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  4. R. F. Escobar-Jiménez
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  5. G. V. Guerrero-Ramírez
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Correspondence to J. F. Gómez-Aguilar.

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Coronel-Escamilla, A., Torres, F., Gómez-Aguilar, J.F. et al. On the trajectory tracking control for an SCARA robot manipulator in a fractional model driven by induction motors with PSO tuning. Multibody Syst Dyn 43, 257–277 (2018). https://doi.org/10.1007/s11044-017-9586-3

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  • DOI: https://doi.org/10.1007/s11044-017-9586-3

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