Design and Performance Analysis of Digital Controllers in Discrete and Continuous Time Domains for a Robot Control System

Dhiman Chowdhury

Design and Performance Analysis of Digital Controllers in Discrete and Continuous Time Domains for a Robot Control System

Dhiman Chowdhury * §

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University of South Carolina

Design and Performance Analysis of Digital Controllers in Discrete and Continuous Time Domains for a Robot Control System

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Abstract

This paper presents design approach and performance analysis of different types of digital compensators for arobot arm joint control system which involves a sensor feedback. The design procedure incorporates discrete (z-plane) and continuous time (warped s-plane or wplane) domain parameters. The design techniques of frequency response characteristics have been investigated and four basic types of controllers-phase-lag, phase-lead, proportionalintegral (PI) and proportional-integral derivative (PID) have been designed and simulated on MATLAB. All the controllers have been implemented to achieve a phase margin of 40 deg. and open loop bode plots and closed loop step responses have been evaluated. Comparison among the controllers on the basis of step response characteristics has beenp resented in this paper.

References

10 Cites in Article

Reference Format

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Funding

No external funding was declared for this work.

Conflict of Interest

The authors declare no conflict of interest.

Ethical Approval

No ethics committee approval was required for this article type.

Data Availability

Not applicable for this article.

How to Cite This Article

Dhiman Chowdhury. 2018. "Design and Performance Analysis of Digital Controllers in Discrete and Continuous Time Domains for a Robot Control System". Global Journal of Research in Engineering, Global Journal of Research in Engineering - F: Electrical & Electronic GJRE-F Volume 18 (GJRE Volume 18 Issue F3).

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GJRE Volume 18 Issue F3

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Journal Specifications

Crossref Journal DOI 10.17406/gjre

Print ISSN 0975-5861

e-ISSN 2249-4596

Keywords

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Classification

GJRE-F Classification FOR Code: 29090

Submission ReceivedDecember 11, 2017
Peer Review Double Blind
Handling Editor
Accepted January 3, 2018
Published January 15, 2018

Version of record

v1.2

Issue date

July 9, 2018

Language

English

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Article Matrices

Total Score: 131

Country: United States

Subject: Global Journal of Research in Engineering

Authors: Dhiman Chowdhury (PhD/Dr. count: 0)

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Publish Date: 2018 01, Mon

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