Compare PID and PDF Control in 2 Degree of Freedom Robotic Manipulator

DOI

10.2991/pntim-19.2019.30How to use a DOI?

Keywords

PID; PDF; Control; Algorithms; MATLAB; Ode45

Abstract

This paper compares the differences between Proportional Integral Derivative (PID) and Pseudo Derivative Feedback (PDF) control algorithms in a two degree of freedom (DOF) planar robot manipulator. The PID and PDF control algorithms are compared in MATLAB which is a simple and practical tool for testing algorithms. An ODE45 function of MATLAB was used in order to solve differential equations. The solution of the differential equation contains the force acting on the actuator. Moreover, since the gain is unknown, a mathematical approach was introduced to carry out the gain. Simulation results showed that PDF control algorithm is shown to be superior to PID control algorithm by comparing the responses in MATLAB. Overshooting appeared in the PID algorithm disappears in the PDF algorithm.

Copyright

© 2019, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Mi Qiang
AU  - Bai Yu
AU  - Jia Feng
AU  - Edwards Gerard
PY  - 2019/11
DA  - 2019/11
TI  - Compare PID and PDF Control in 2 Degree of Freedom Robotic Manipulator
BT  - Proceedings of the 2019 International Conference on Precision Machining, Non-Traditional Machining and Intelligent Manufacturing (PNTIM 2019)
PB  - Atlantis Press
SP  - 144
EP  - 148
SN  - 2589-4943
UR  - https://doi.org/10.2991/pntim-19.2019.30
DO  - 10.2991/pntim-19.2019.30
ID  - Qiang2019/11
ER  -