Transient control improvement on pneumatic servoing in robot system using fractional-order PID with finite-time prescribed performance control
This paper presents an effective control strategy for an industrial robot's tri-finger pneumatic gripper (TPG) that incorporates with a finite-time prescribed performance control (FT-PPC) with a fractional-order proportional-integral-derivative (FOPID) controller named as FTPPC-FOPID controller...
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| Format: | Conference or Workshop Item |
| Language: | English |
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IEEE
2022
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/44126/ http://umpir.ump.edu.my/id/eprint/44126/1/Transient%20control%20improvement%20on%20pneumatic%20servoing%20in%20robot%20system.pdf |
| _version_ | 1848827037601497088 |
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| author | Mohd Iskandar Putra, Azahar Addie Irawan, Hashim Mohd Syakirin, Ramli |
| author_facet | Mohd Iskandar Putra, Azahar Addie Irawan, Hashim Mohd Syakirin, Ramli |
| author_sort | Mohd Iskandar Putra, Azahar |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper presents an effective control strategy for an industrial robot's tri-finger pneumatic gripper (TPG) that incorporates with a finite-time prescribed performance control (FT-PPC) with a fractional-order proportional-integral-derivative (FOPID) controller named as FTPPC-FOPID controller. The experiments were carried out with step input trajectories as a fundamental critical input for pneumatic rod-piston on the TPG unit. The results show that, the proposed FTPPC-FOPID controller as compared to the FOPID controller alone has improved the PPVDC rod-piston positioning performances by eliminating the oscillation on the transient response, thus avoiding overshoot, and providing fast settling time as well as steady-state error. Moreover, the proposed control strategy has improved the PPVDC's piston’s pressures with minimum control input oscillation. Overall results show that the proposed FTPPC can improve the feedback controller such as FOPID in controlling a very nonlinear system such as pneumatic servo system in TPG. |
| first_indexed | 2025-11-15T03:54:21Z |
| format | Conference or Workshop Item |
| id | ump-44126 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T03:54:21Z |
| publishDate | 2022 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-441262025-03-19T01:25:52Z http://umpir.ump.edu.my/id/eprint/44126/ Transient control improvement on pneumatic servoing in robot system using fractional-order PID with finite-time prescribed performance control Mohd Iskandar Putra, Azahar Addie Irawan, Hashim Mohd Syakirin, Ramli TC Hydraulic engineering. Ocean engineering TK Electrical engineering. Electronics Nuclear engineering This paper presents an effective control strategy for an industrial robot's tri-finger pneumatic gripper (TPG) that incorporates with a finite-time prescribed performance control (FT-PPC) with a fractional-order proportional-integral-derivative (FOPID) controller named as FTPPC-FOPID controller. The experiments were carried out with step input trajectories as a fundamental critical input for pneumatic rod-piston on the TPG unit. The results show that, the proposed FTPPC-FOPID controller as compared to the FOPID controller alone has improved the PPVDC rod-piston positioning performances by eliminating the oscillation on the transient response, thus avoiding overshoot, and providing fast settling time as well as steady-state error. Moreover, the proposed control strategy has improved the PPVDC's piston’s pressures with minimum control input oscillation. Overall results show that the proposed FTPPC can improve the feedback controller such as FOPID in controlling a very nonlinear system such as pneumatic servo system in TPG. IEEE 2022 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/44126/1/Transient%20control%20improvement%20on%20pneumatic%20servoing%20in%20robot%20system.pdf Mohd Iskandar Putra, Azahar and Addie Irawan, Hashim and Mohd Syakirin, Ramli (2022) Transient control improvement on pneumatic servoing in robot system using fractional-order PID with finite-time prescribed performance control. In: 2022 12th IEEE Symposium on Computer Applications and Industrial Electronics, ISCAIE 2022 , 21 - 22 May 2022 , Virtual, Online. 206 -210.. ISBN 978-166548703-0 (Published) https://doi.org/10.1109/ISCAIE54458.2022.9794510 |
| spellingShingle | TC Hydraulic engineering. Ocean engineering TK Electrical engineering. Electronics Nuclear engineering Mohd Iskandar Putra, Azahar Addie Irawan, Hashim Mohd Syakirin, Ramli Transient control improvement on pneumatic servoing in robot system using fractional-order PID with finite-time prescribed performance control |
| title | Transient control improvement on pneumatic servoing in robot system using fractional-order PID with finite-time prescribed performance control |
| title_full | Transient control improvement on pneumatic servoing in robot system using fractional-order PID with finite-time prescribed performance control |
| title_fullStr | Transient control improvement on pneumatic servoing in robot system using fractional-order PID with finite-time prescribed performance control |
| title_full_unstemmed | Transient control improvement on pneumatic servoing in robot system using fractional-order PID with finite-time prescribed performance control |
| title_short | Transient control improvement on pneumatic servoing in robot system using fractional-order PID with finite-time prescribed performance control |
| title_sort | transient control improvement on pneumatic servoing in robot system using fractional-order pid with finite-time prescribed performance control |
| topic | TC Hydraulic engineering. Ocean engineering TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/44126/ http://umpir.ump.edu.my/id/eprint/44126/ http://umpir.ump.edu.my/id/eprint/44126/1/Transient%20control%20improvement%20on%20pneumatic%20servoing%20in%20robot%20system.pdf |