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Analysing Various Control Technics for Manipulator Robotic System (Robogymnast)

Mahmoud Mohamed1,2,*, Bdereddin Abdul Samad1,3, Fatih Anayi1, Michael Packianather1, Khalid Yahya4

1 School of Engineering, Cardiff University, Cardiff, CF24 3AA, UK
2 Faculty of Engineering, University of Zawia, Zawia, 16418, Libya
3 Electrical and Electronic Department, Azahra Higher Institution of Sciences and Technology, Azahra, Libya
4 Department of Electrical and Electronics Engineering, Nisantasi University, Istanbul, 34398, Turkey

* Corresponding Authors: Mahmoud Mohamed. Emails: ,

Computers, Materials & Continua 2023, 75(3), 4681-4696.


The Robogymnast is a highly complex, three-link system based on the triple-inverted pendulum and is modelled on the human example of a gymnast suspended by their hands from the high bar and executing larger and larger upswings to eventually rotate fully. The links of the Robogymnast correspond respectively to the arms, trunk, and lower limbs of the gymnast, and from its three joints, one is under passive operation, while the remaining two are powered. The passive top joint poses severe challenges in attaining the smooth movement control needed to operate the Robogymnast effectively. This study assesses four types of controllers used for systems operation and identifies how far response stabilisation is achieved with each. The system is simulated using MATLAB Simulink, with findings generated regarding rising and settling time, as well as overshoot. The research primarily seeks to examine the application of a linear quadratic regulator controller, proportionalintegral-derivative controller, fuzzy linear quadratic regulator controller and linear quadratic regulator- proportional-integral-derivative controller for this type of system and comparisons between the different controllers to demonstrate successful performance, which highlights the claimed advantages of the proposed system.


Cite This Article

M. Mohamed, B. A. Samad, F. Anayi, M. Packianather and K. Yahya, "Analysing various control technics for manipulator robotic system (robogymnast)," Computers, Materials & Continua, vol. 75, no.3, pp. 4681–4696, 2023.

This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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