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Improvement of Ultra-local Model Control Using the Auto-tuning PID Control Applied to Redundant Manipulator Robot

Sameh Zribi 1, Hatem Tlijani 1, Jilani Knani 1, and Jilani Knani 2
1. Research Laboratory LARA in Automatic Control, National Engineering School of Tunis (ENIT), University of Tunis El Manar, BP 37, Le Belvédère, Tunisia
2. Department of Automatic Control (ESAII) University Polytechnic of Catalonia, Despatx 525 (Campus Sud) Pau Gargallo, Barcelona, Spain

Abstract— This article discusses the development of a new control strategy that merges an ultra-local model control with an auto-tuning PID control applied to a flexible mechanism with an endpoint load. This will help obtain a suitable control system to well manage the behavior of this flexible structure. The proposed approach uses an ultra-local model control, which consists of locally modeling such a system that is instantly updated only from the knowledge of the input and output system then estimating its parameter via an algebraic derivation approach. And then of auto-tuning PID control which consists on automatically tuning the PID controller's gains using the pole placement technique. In order to evaluate the robustness and efficiency of the proposed approach against the internal vibration of the flexible structure and to the external distribution, the new control has been applied to a flexible manipulator robot using several motion profiles. Results are presented and discussed which illustrate the validity of the proposed control strategy that has been carried out in the presence of internal vibration and several inputs. 

Index Terms—algebraic derivation; ultra-local model control; auto-tuning PID; redundant mechanism; robustness

Cite: Sameh Zribi, Hatem Tlijani, Jilani Knani, and Vicenc Puig, "Improvement of Ultra-local Model Control Using the Auto-tuning PID Control Applied to Redundant Manipulator Robot," International Journal of Mechanical Engineering and Robotics Research, Vol. 8, No. 1, pp. 25-30, January 2019. DOI: 10.18178/ijmerr.8.1.25-30