Feedforward model with cascading proportional derivative active force control for an articulated arm mobile manipulator

This thesis presents an approach for controlling a mobile manipulator (MM) using a two degree of freedom (DOF) controller which essentially comprises a cascading proportional-derivative (CPD) control and feedforward active force control (FAFC). MM possesses both features of mobile platform and indus...

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Main Author:	Abdullah, Shariman
Format:	Thesis
Language:	English
Published:	2016
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/81675/1/SharimanAbdullahPFKM2016.pdf
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id	my-utm-ep.81675
record_format	uketd_dc
spelling	my-utm-ep.816752019-09-12T00:19:13Z Feedforward model with cascading proportional derivative active force control for an articulated arm mobile manipulator 2016 Abdullah, Shariman TJ Mechanical engineering and machinery This thesis presents an approach for controlling a mobile manipulator (MM) using a two degree of freedom (DOF) controller which essentially comprises a cascading proportional-derivative (CPD) control and feedforward active force control (FAFC). MM possesses both features of mobile platform and industrial arm manipulator. This has greatly improved the performance of MM with increased workspace capacity and better operation dexterity. The added mobility advantage to a MM, however, has increased the complexity of the MM dynamic system. A robust controller that can deal with the added complexity of the MM dynamic system was therefore needed. The AFC which can be considered as one of the novelties in the research creates a torque feedback within the dynamic system to allow for the compensation of sudden disturbances in the dynamic system. AFC also allows faster computational performance by using a fixed value of the estimated inertia matrix (IN) of the system. A feedforward of the dynamic system was also implemented to complement the IN for a better trajectory tracking performance. A localisation technique using Kalman filter (KF) was also incorporated into the CPD-FAFC scheme to solve some MM navigation problems. A simulation and experimental studies were performed to validate the effectiveness of the MM controller. Simulation was performed using a co-simulation technique which combined the simultaneous execution of the MSC Adams and MATLAB/Simulink software. The experimental study was carried out using a custom built MM experimental rig (MMer) which was developed based on the mechatronic approach. A comparative studies between the proposed CPD-FAFC with other type of controllers was also performed to further strengthen the outcome of the system. The experimental results affirmed the effectiveness of the proposed AFC-based controller and were in good agreement with the simulation counterpart, thereby verifying and validating the proposed research concepts and models. 2016 Thesis http://eprints.utm.my/id/eprint/81675/ http://eprints.utm.my/id/eprint/81675/1/SharimanAbdullahPFKM2016.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:126339 phd doctoral Universiti Teknologi Malaysia Mechanical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Abdullah, Shariman Feedforward model with cascading proportional derivative active force control for an articulated arm mobile manipulator
description	This thesis presents an approach for controlling a mobile manipulator (MM) using a two degree of freedom (DOF) controller which essentially comprises a cascading proportional-derivative (CPD) control and feedforward active force control (FAFC). MM possesses both features of mobile platform and industrial arm manipulator. This has greatly improved the performance of MM with increased workspace capacity and better operation dexterity. The added mobility advantage to a MM, however, has increased the complexity of the MM dynamic system. A robust controller that can deal with the added complexity of the MM dynamic system was therefore needed. The AFC which can be considered as one of the novelties in the research creates a torque feedback within the dynamic system to allow for the compensation of sudden disturbances in the dynamic system. AFC also allows faster computational performance by using a fixed value of the estimated inertia matrix (IN) of the system. A feedforward of the dynamic system was also implemented to complement the IN for a better trajectory tracking performance. A localisation technique using Kalman filter (KF) was also incorporated into the CPD-FAFC scheme to solve some MM navigation problems. A simulation and experimental studies were performed to validate the effectiveness of the MM controller. Simulation was performed using a co-simulation technique which combined the simultaneous execution of the MSC Adams and MATLAB/Simulink software. The experimental study was carried out using a custom built MM experimental rig (MMer) which was developed based on the mechatronic approach. A comparative studies between the proposed CPD-FAFC with other type of controllers was also performed to further strengthen the outcome of the system. The experimental results affirmed the effectiveness of the proposed AFC-based controller and were in good agreement with the simulation counterpart, thereby verifying and validating the proposed research concepts and models.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Abdullah, Shariman
author_facet	Abdullah, Shariman
author_sort	Abdullah, Shariman
title	Feedforward model with cascading proportional derivative active force control for an articulated arm mobile manipulator
title_short	Feedforward model with cascading proportional derivative active force control for an articulated arm mobile manipulator
title_full	Feedforward model with cascading proportional derivative active force control for an articulated arm mobile manipulator
title_fullStr	Feedforward model with cascading proportional derivative active force control for an articulated arm mobile manipulator
title_full_unstemmed	Feedforward model with cascading proportional derivative active force control for an articulated arm mobile manipulator
title_sort	feedforward model with cascading proportional derivative active force control for an articulated arm mobile manipulator
granting_institution	Universiti Teknologi Malaysia
granting_department	Mechanical Engineering
publishDate	2016
url	http://eprints.utm.my/id/eprint/81675/1/SharimanAbdullahPFKM2016.pdf
_version_	1747818386517131264

Feedforward model with cascading proportional derivative active force control for an articulated arm mobile manipulator

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