IMPLEMENTATION OF A FRACTIONAL ORDER PID CONTROL IN A

ROBOT WITH 5 DEGREES OF FREEDOM

Author: Raziel Sánchez-Guarneros

Afiliación: Instituto Tecnológico de Apizaco, departamento de posgrado, Av Instituto
Tecnológico s/n Conurbado Tzompantepec, 90300 Apizaco, Tlax.
Co-author: Haydee Patricia Martínez-Hernández
Afiliación: Instituto Tecnológico de Apizaco, departamento de posgrado, Av Instituto
Tecnológico s/n Conurbado Tzompantepec, 90300 Apizaco, Tlax.
Co-author: Raúl Cortés-Maldonado
Afiliación: Instituto Tecnológico de Apizaco, departamento de posgrado, Av Instituto
Tecnológico s/n Conurbado Tzompantepec, 90300 Apizaco, Tlax.
Co-author: Ernesto Zambrano-Serrano.
Afiliación: Universidad Autónoma de Nuevo León, Facultad de Ingeniería Mecánica
y Eléctrica, San Nicolás de los Garza 66455, NL, México.
This paper presents the implementación of a fractional order PID control in a robot
with 5 degrees of freedom, leveraging the MATLAB Simulink tool and Solidworks
software with the BCN3D Robot free code. The robot model was constructed in
Solidworks using the BCN3D Robot code, enabling the generation of an accurate
system model. Subsequently, the model was imported into Simulink for controller
simulations and testing. The fractional order PID control was designed and tuned
using techniques specific to fractional order controllers. These techniques take into
account the fractional order parameters of the system and allow to obtain an
adequate. Subsequently, tests and simulations were carried out to evaluate the
performance of the controller in the 5 degrees of freedom robot. Metrics such as
system stability, transient response, and trajectory followability were analyzed.
The obtained results demonstrated significant improvements in the performance of
the robot compared to an integer order controller. Notably, the fractional order PID
control exhibited enhanced trajectory tracking accuracy and generated a smoother
and more stable response from the system.
In conclusion, this work shows the successful implementation of a fractional order
PID control in a 5 degrees of freedom robot using Simulink tools from MATLAB and
Solidworks with the free code BCN3D Robot. The results obtained support the
effectiveness of this approach and open up new possibilities for the control of more
precise and stable robotic systems.
keywords: PID, Fractional order control, robotic manipulators, performance,
modeling.