Algerian Journal of Signals and Systems
Volume 2, Numéro 1, Pages 51-62
2017-03-31

Imc Multi-controller Strategies Applied On A Manipulator Robot



Authors : Zennir Y. . Guechi E. . Chetioui L. . Bendib Riad .

Abstract

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.

Keywords

Modeling, Multi-control approach, Multi-controller control, Fractional PID controller, IMC controller, LQG controller, Oustaloup Recursive Approximation method.

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