Publication

Nonlinear PD control of a Parallel Delta robot: Expermentals Results

Mohamed Bouri
2018
Conference Papers

Résumé

In this paper, a nonlinear proportional derivative control (NPD) is proposed to solve the trajectory tracking problem of a parallel Delta robot. In order to handle the strong coupling effect and external disturbances as well as to realise high-precision trajectory tracking, the proportional and derivative gains are adapted through time using the tracking error and its time derivative respectively. Experiments are carried out on the parallel Delta-4 robot, and it is shown the effectiveness and the superiority of the NPD controller over the fixed gains PD controller.

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https://infoscience.epfl.ch/entities/publication/b2c178bd-4873-4a58-8247-13c4bd356296

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Mohamed Bouri
2018
Conference Papers

Résumé

Source officielle

https://infoscience.epfl.ch/entities/publication/b2c178bd-4873-4a58-8247-13c4bd356296

À propos de ce résultat

Concepts associés (17)

Proportional representation

Proportional representation (PR) refers to a type of electoral system under which subgroups of an electorate are reflected proportionately in the elected body. The concept applies mainly to political divisions (political parties) among voters. The essence of such systems is that all votes cast - or almost all votes cast - contribute to the result and are effectively used to help elect someone - not just a bare plurality or (exclusively) the majority - and that the system produces mixed, balanced representation reflecting how votes are cast.

Mixed-member proportional representation

Mixed-member proportional representation (MMP or MMPR) is a mixed electoral system in which votes are cast for both local elections and also for overall party vote tallies, which are used to allocate additional members to produce or deepen overall proportional representation. In some MMP systems, voters get two votes: one to decide the representative for their single-seat constituency, and one for a political party. In Denmark and others, the single vote cast by the voter is used for both the local election (in a multi-member or single-seat district), and for the overall top-up.

Semi-proportional representation

Semi-proportional representation characterizes multi-winner electoral systems which allow representation of minorities, but are not intended to reflect the strength of the competing political forces in close proportion to the votes they receive. Semi-proportional voting systems can be regarded as compromises between forms of proportional representation such as party-list PR, and plurality/majoritarian systems such as first-past-the-post voting. Examples of semi-proportional systems include the single non-transferable vote, limited voting, and parallel voting.

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