Modelling and control of a piezo actuated micro robot with active force control capability for in-pipe application
In this paper, a piezo actuated micro robot with active force control (AFC) capability is modelled and simulated for an in-pipe application. A mathematical model that describes the dynamic characteristics of the micro robot is first presented. The dynamic response of the robot system subjected to di...
Saved in:
Main Authors: | , , |
---|---|
Format: | Article |
Published: |
Inderscience Enterprises Ltd.
2011
|
Subjects: | |
Online Access: | http://eprints.utm.my/id/eprint/29440/ http://dx.doi.org/10.1504/IJMIC.2011.041785 |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
id |
my.utm.29440 |
---|---|
record_format |
eprints |
spelling |
my.utm.294402019-04-25T01:14:49Z http://eprints.utm.my/id/eprint/29440/ Modelling and control of a piezo actuated micro robot with active force control capability for in-pipe application Sabzehmeidani, Yaser Mailah, Musa Hussein, Mohamed TJ Mechanical engineering and machinery In this paper, a piezo actuated micro robot with active force control (AFC) capability is modelled and simulated for an in-pipe application. A mathematical model that describes the dynamic characteristics of the micro robot is first presented. The dynamic response of the robot system subjected to different input excitations is then investigated by initially considering a conventional proportional-integral-derivative (PID) controller to perform a trajectory tacking task. Subsequently, a robust AFC-based controller is serially added to the PID controller, the primary aim of which is to reject the unwanted disturbances due to frictional forces in the pipe. The control system is tuned so that an accurate trajectory tracking control is achieved. The performance of the control system under different loading and operating conditions is evaluated through a rigorous simulation study. A sliding mode controller (SMC) was also included to provide another means of comparing the system performances apart from the pure PID control scheme. The obtained results clearly demonstrate the robust trajectory tracking performance of the proposed AFC-based micro robot system in spite of the negative effects of the external disturbances. Inderscience Enterprises Ltd. 2011-08 Article PeerReviewed Sabzehmeidani, Yaser and Mailah, Musa and Hussein, Mohamed (2011) Modelling and control of a piezo actuated micro robot with active force control capability for in-pipe application. International Journal of Modelling, Identification and Control, 13 (4). pp. 301-309. ISSN 1746-6172 http://dx.doi.org/10.1504/IJMIC.2011.041785 DOI:10.1504/IJMIC.2011.041785 |
institution |
Universiti Teknologi Malaysia |
building |
UTM Library |
collection |
Institutional Repository |
continent |
Asia |
country |
Malaysia |
content_provider |
Universiti Teknologi Malaysia |
content_source |
UTM Institutional Repository |
url_provider |
http://eprints.utm.my/ |
topic |
TJ Mechanical engineering and machinery |
spellingShingle |
TJ Mechanical engineering and machinery Sabzehmeidani, Yaser Mailah, Musa Hussein, Mohamed Modelling and control of a piezo actuated micro robot with active force control capability for in-pipe application |
description |
In this paper, a piezo actuated micro robot with active force control (AFC) capability is modelled and simulated for an in-pipe application. A mathematical model that describes the dynamic characteristics of the micro robot is first presented. The dynamic response of the robot system subjected to different input excitations is then investigated by initially considering a conventional proportional-integral-derivative (PID) controller to perform a trajectory tacking task. Subsequently, a robust AFC-based controller is serially added to the PID controller, the primary aim of which is to reject the unwanted disturbances due to frictional forces in the pipe. The control system is tuned so that an accurate trajectory tracking control is achieved. The performance of the control system under different loading and operating conditions is evaluated through a rigorous simulation study. A sliding mode controller (SMC) was also included to provide another means of comparing the system performances apart from the pure PID control scheme. The obtained results clearly demonstrate the robust trajectory tracking performance of the proposed AFC-based micro robot system in spite of the negative effects of the external disturbances. |
format |
Article |
author |
Sabzehmeidani, Yaser Mailah, Musa Hussein, Mohamed |
author_facet |
Sabzehmeidani, Yaser Mailah, Musa Hussein, Mohamed |
author_sort |
Sabzehmeidani, Yaser |
title |
Modelling and control of a piezo actuated micro robot with active force control capability for in-pipe application |
title_short |
Modelling and control of a piezo actuated micro robot with active force control capability for in-pipe application |
title_full |
Modelling and control of a piezo actuated micro robot with active force control capability for in-pipe application |
title_fullStr |
Modelling and control of a piezo actuated micro robot with active force control capability for in-pipe application |
title_full_unstemmed |
Modelling and control of a piezo actuated micro robot with active force control capability for in-pipe application |
title_sort |
modelling and control of a piezo actuated micro robot with active force control capability for in-pipe application |
publisher |
Inderscience Enterprises Ltd. |
publishDate |
2011 |
url |
http://eprints.utm.my/id/eprint/29440/ http://dx.doi.org/10.1504/IJMIC.2011.041785 |
_version_ |
1643648297336832000 |
score |
13.160551 |