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Robust Approach of Optimal Control for DC Motor in Robotic Arm System using Matlab Environment

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@article{IJASEIT8923,
   author = {Hasan Abbas Hussein Al-khazarji and Mohammed Abdulla Abdulsada and Riyadh Bassil Abduljabbar},
   title = {Robust Approach of Optimal Control for DC Motor in Robotic Arm System using Matlab Environment},
   journal = {International Journal on Advanced Science, Engineering and Information Technology},
   volume = {10},
   number = {6},
   year = {2020},
   pages = {2231--2236},
   keywords = {DC motor; robotic arm; PID controller; optimal controller; Matlab.},
   abstract = {Modern automation robotics have replaced many human workers in industrial factories around the globe. The robotic arms are used for several manufacturing applications, and their responses required optimal control. In this paper, a robust approach of optimal position control for a DC motor in the robotic arm system is proposed. The general component of the automation system is first introduced. The mathematical model and the corresponding transfer functions of a DC motor in the robotic arm system are presented.  The investigations of using DC motor in the robotic arm system without controller lead to poor system performance. Therefore, the analysis and design of a Proportional plus Integration plus Divertive (PID) controller is illustrated. The tuning procedure of the PID controller gains is discussed to achieve the best responses of the DC motor. It is found that with the PID controller, the system performance is enhanced, especially in terms of steady-state error but does not provide the required optimal control.  The required approach of Ackerman's formula optimal controller based on state-space feedback is investigated. A GUI using the Matlab environment is created to obtain the DC motor's responses without using a controller and with controllers. It is found that the proposed approach of the optimal controller has more robustness and enhances the overall performance of the existing PID controller in the form of reducing settling times (from 2.23 second to 0.776 seconds), minimizing percent overshoot (from 27.7 % to 1.31 %) and zero value of steady-state error.},
   issn = {2088-5334},
   publisher = {INSIGHT - Indonesian Society for Knowledge and Human Development},
   url = {http://ijaseit.insightsociety.org/index.php?option=com_content&view=article&id=9&Itemid=1&article_id=8923},
   doi = {10.18517/ijaseit.10.6.8923}
}

EndNote

%A Al-khazarji, Hasan Abbas Hussein
%A Abdulsada, Mohammed Abdulla
%A Abduljabbar, Riyadh Bassil
%D 2020
%T Robust Approach of Optimal Control for DC Motor in Robotic Arm System using Matlab Environment
%B 2020
%9 DC motor; robotic arm; PID controller; optimal controller; Matlab.
%! Robust Approach of Optimal Control for DC Motor in Robotic Arm System using Matlab Environment
%K DC motor; robotic arm; PID controller; optimal controller; Matlab.
%X Modern automation robotics have replaced many human workers in industrial factories around the globe. The robotic arms are used for several manufacturing applications, and their responses required optimal control. In this paper, a robust approach of optimal position control for a DC motor in the robotic arm system is proposed. The general component of the automation system is first introduced. The mathematical model and the corresponding transfer functions of a DC motor in the robotic arm system are presented.  The investigations of using DC motor in the robotic arm system without controller lead to poor system performance. Therefore, the analysis and design of a Proportional plus Integration plus Divertive (PID) controller is illustrated. The tuning procedure of the PID controller gains is discussed to achieve the best responses of the DC motor. It is found that with the PID controller, the system performance is enhanced, especially in terms of steady-state error but does not provide the required optimal control.  The required approach of Ackerman's formula optimal controller based on state-space feedback is investigated. A GUI using the Matlab environment is created to obtain the DC motor's responses without using a controller and with controllers. It is found that the proposed approach of the optimal controller has more robustness and enhances the overall performance of the existing PID controller in the form of reducing settling times (from 2.23 second to 0.776 seconds), minimizing percent overshoot (from 27.7 % to 1.31 %) and zero value of steady-state error.
%U http://ijaseit.insightsociety.org/index.php?option=com_content&view=article&id=9&Itemid=1&article_id=8923
%R doi:10.18517/ijaseit.10.6.8923
%J International Journal on Advanced Science, Engineering and Information Technology
%V 10
%N 6
%@ 2088-5334

IEEE

Hasan Abbas Hussein Al-khazarji,Mohammed Abdulla Abdulsada and Riyadh Bassil Abduljabbar,"Robust Approach of Optimal Control for DC Motor in Robotic Arm System using Matlab Environment," International Journal on Advanced Science, Engineering and Information Technology, vol. 10, no. 6, pp. 2231-2236, 2020. [Online]. Available: http://dx.doi.org/10.18517/ijaseit.10.6.8923.

RefMan/ProCite (RIS)

TY  - JOUR
AU  - Al-khazarji, Hasan Abbas Hussein
AU  - Abdulsada, Mohammed Abdulla
AU  - Abduljabbar, Riyadh Bassil
PY  - 2020
TI  - Robust Approach of Optimal Control for DC Motor in Robotic Arm System using Matlab Environment
JF  - International Journal on Advanced Science, Engineering and Information Technology; Vol. 10 (2020) No. 6
Y2  - 2020
SP  - 2231
EP  - 2236
SN  - 2088-5334
PB  - INSIGHT - Indonesian Society for Knowledge and Human Development
KW  - DC motor; robotic arm; PID controller; optimal controller; Matlab.
N2  - Modern automation robotics have replaced many human workers in industrial factories around the globe. The robotic arms are used for several manufacturing applications, and their responses required optimal control. In this paper, a robust approach of optimal position control for a DC motor in the robotic arm system is proposed. The general component of the automation system is first introduced. The mathematical model and the corresponding transfer functions of a DC motor in the robotic arm system are presented.  The investigations of using DC motor in the robotic arm system without controller lead to poor system performance. Therefore, the analysis and design of a Proportional plus Integration plus Divertive (PID) controller is illustrated. The tuning procedure of the PID controller gains is discussed to achieve the best responses of the DC motor. It is found that with the PID controller, the system performance is enhanced, especially in terms of steady-state error but does not provide the required optimal control.  The required approach of Ackerman's formula optimal controller based on state-space feedback is investigated. A GUI using the Matlab environment is created to obtain the DC motor's responses without using a controller and with controllers. It is found that the proposed approach of the optimal controller has more robustness and enhances the overall performance of the existing PID controller in the form of reducing settling times (from 2.23 second to 0.776 seconds), minimizing percent overshoot (from 27.7 % to 1.31 %) and zero value of steady-state error.
UR  - http://ijaseit.insightsociety.org/index.php?option=com_content&view=article&id=9&Itemid=1&article_id=8923
DO  - 10.18517/ijaseit.10.6.8923

RefWorks

RT Journal Article
ID 8923
A1 Al-khazarji, Hasan Abbas Hussein
A1 Abdulsada, Mohammed Abdulla
A1 Abduljabbar, Riyadh Bassil
T1 Robust Approach of Optimal Control for DC Motor in Robotic Arm System using Matlab Environment
JF International Journal on Advanced Science, Engineering and Information Technology
VO 10
IS 6
YR 2020
SP 2231
OP 2236
SN 2088-5334
PB INSIGHT - Indonesian Society for Knowledge and Human Development
K1 DC motor; robotic arm; PID controller; optimal controller; Matlab.
AB Modern automation robotics have replaced many human workers in industrial factories around the globe. The robotic arms are used for several manufacturing applications, and their responses required optimal control. In this paper, a robust approach of optimal position control for a DC motor in the robotic arm system is proposed. The general component of the automation system is first introduced. The mathematical model and the corresponding transfer functions of a DC motor in the robotic arm system are presented.  The investigations of using DC motor in the robotic arm system without controller lead to poor system performance. Therefore, the analysis and design of a Proportional plus Integration plus Divertive (PID) controller is illustrated. The tuning procedure of the PID controller gains is discussed to achieve the best responses of the DC motor. It is found that with the PID controller, the system performance is enhanced, especially in terms of steady-state error but does not provide the required optimal control.  The required approach of Ackerman's formula optimal controller based on state-space feedback is investigated. A GUI using the Matlab environment is created to obtain the DC motor's responses without using a controller and with controllers. It is found that the proposed approach of the optimal controller has more robustness and enhances the overall performance of the existing PID controller in the form of reducing settling times (from 2.23 second to 0.776 seconds), minimizing percent overshoot (from 27.7 % to 1.31 %) and zero value of steady-state error.
LK http://ijaseit.insightsociety.org/index.php?option=com_content&view=article&id=9&Itemid=1&article_id=8923
DO  - 10.18517/ijaseit.10.6.8923