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All Journal Bulletin of Electrical Engineering and Informatics
Wisam Essmat Abdul-Lateef
University of Technology
Electrical & Electronics Engineering

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An optimal motion path planning control of a robotic manipulator based on the hybrid PI-sliding mode controller Wisam Essmat Abdul-Lateef; Yaser Nabeel Ibrahem Alothman; Sabah Abdul-Hassan Gitaffa
Bulletin of Electrical Engineering and Informatics Vol 12, No 2: April 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v12i2.3968

Abstract

This paper proposes a hybrid proportional-integral (PI-sliding) mode controller to improve and adjust the point-to-point path planning of a three-link robotic arm with three degrees of freedom. The main objectives of the proposed control unit are to control the tracking process to reach the desired path handle the outgoing vibrations, and dampen them in the links of the robotic arm during its movement to ensure accuracy in completing the work. Seventh-degree polynomial paths represented the segments of locomotion connecting the first, middle, and last points at the combined space through predefined route points via minimal travel time. While not exceeding a predetermined maximum torque, without hitting any obstacle in the robot's workspace. The results showed that the proposed control design provides a robust control performance and fast response corresponding with conventional sliding mode controller (SMC) and PI controller. Then the outcomes provide the best results for the demanded mission according to the whished intakes with minimal error. The system equations are solved using the techniques available in MATLAB software then the results of the model are validated by the results of simulations.
Using sensorless direct torque with fuzzy proportional-integral controller to control three phase induction motor Yaser Nabeel Ibrahem Alothman; Wisam Essmat Abdul-Lateef; Sabah Abdul-Hassan Gitaffa
Bulletin of Electrical Engineering and Informatics Vol 12, No 2: April 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v12i2.3991

Abstract

Induction motors (IM) attracted many researchers in the last few decades. In this field, various applications are implemented, such as servo motor drives and electric vehicles. This work applies a sensorless direct torque controller (DTC) to control a three-phase IM. System dynamics of the IM were derived. A nonlinear dynamic model had introduced with white noise. Given the complexity of the dynamics, the Jacobean Linearization technique has been used to obtain the linear model for a control task. A DTC technique is employed to control the motor speed of the system with a combination of two controllers. The fuzzy proportional-integral (PI) controllers are applied to obtain the reference torque based on an optimization process against the speed error raise. The optimizer is called grey wolf optimizer (GWO) and is implemented to achieve the centre values of the two output memberships for the fuzzy PI controllers. Then the extended Kalman filter (EKF) is used to evaluate the direct and quadratic components of the rotor flux and rotor speed from the observation of stator voltages and currents. The system is tested employing MATLAB simulation software and determines the targeted results. The outcomes are evaluated to improve the control performance.
Co-Authors Sabah Abdul-Hassan Gitaffa Yaser Nabeel Ibrahem Alothman