Dynamic modeling and integral/fractional PID control for a class of Biologically-Inspired continuum robots
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Full Text |
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Author |
Amel Djedil, Ammar Amouri and Ayman Belkhiri
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e-ISSN |
1819-6608 |
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On Pages
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101-112
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Volume No. |
20
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Issue No. |
3
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Issue Date |
March 21, 2025
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DOI |
https://doi.org/10.59018/022522
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Keywords |
continuum robot, cable-driven continuum robot, kinematic modeling, dynamic modeling, integral and fractional PID control.
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Abstract
This paper presents a simplified nonlinear dynamic model designed specifically for a Dual-Cross-Module Cable-Driven Continuum Robot (DCM-CDCR), which is inspired by a fishbone-like structure. It explores and compares three variants of PID control-the classical Proportional-Integral-Derivative (PID), Optimized PID, and Fractional-Order PID-to mitigate motion oscillations. Unlike CDCRs with cylindrical backbones, the DCM-CDCR offers advantages such as lightweight construction, structural stability, and reduced motor requirements for spatial movement. However, its intricate and highly nonlinear kinematics present challenges in both modeling and control. To tackle these challenges, a forward kinematic model utilizing the Constant Curvature Kinematic Approach (CCKA) is employed to simplify motion representation. The dynamic model, formulated using the Euler-Lagrange formalism, incorporates factors such as gravity, elasticity, and internal moments. The control strategies encompass PID controllers-classical PID, Optimized PID (OPID), and Fractional-Order PID (FOPID). Validation of the proposed models and controllers includes simulation examples that assess static and dynamic responses, along with comparative evaluations of controller performance in target tracking tasks. Furthermore, simulation results are cross-verified with real measurements to validate the static model's accuracy.
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