Enhanced the control strategy of a triple link robotic system (Robogymnast)

Abdul Samad, Bdereddin ORCID: https://orcid.org/0000-0002-9140-5024, Mohamed, Mahmoud ORCID: https://orcid.org/0000-0001-9386-7495 and Anayi, Fatih ORCID: https://orcid.org/0000-0001-8408-7673 2023. Enhanced the control strategy of a triple link robotic system (Robogymnast). IEEE Access 11 , pp. 31997-32005. 10.1109/ACCESS.2023.3262190

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Abstract

This research aims to optimise performance in a Fuzzy Linear Quadratic Regulator controller by implementing 2 types of algorithm to stabilise the triple-link ‘Robogymnast’ robotic system. The Robogymnast recreates the movements of a human gymnast, with the hand/arm element of the system securely attached to a high bar with ball0bearing mountings, which can rotate freely. This article explores the complex factors involved in swing-up control in the underactuated Robogymnast and presents a linearisation of the mathematical modelling for the system, considering methods which apply Lagrangian equations in defining state space in such systems. Both the Teaching-Learning-Based Optimization (TLBO) and Particle Swarm Optimization (PSO) algorithm were used for tuning the hybrid Fuzzy Linear Quadratic Regulator controller for later application with the robot and assessment of response stability. In addition, MATLAB Simulink was used to simulate performance and show the effect of altering parameters including time for rising, settling and overshoot. This work aims primarily to explore how a Linear Quadratic Regulator/Fuzzy Logic controller can be applied with acrobatic robots.

Item Type:	Article
Date Type:	Publication
Status:	Published
Schools:	Engineering
Publisher:	Institute of Electrical and Electronics Engineers
ISSN:	2169-3536
Date of First Compliant Deposit:	6 April 2023
Date of Acceptance:	23 March 2023
Last Modified:	11 May 2023 21:29
URI:	https://orca.cardiff.ac.uk/id/eprint/158421

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