Nonlinear tracking control of a two link oil palm harvesting manipulator

Authors

  • Ramin Shamshiri Department of Agricultural and Biological Engineering, University of Florida, Gainesville, FL 32611, USA
  • Wan Ishak Wan Ismail Universiti Putra Malaysia

DOI:

https://doi.org/10.25165/ijabe.v5i2.601

Keywords:

harvesting robotics, oil palm, nonlinear control, manipulator control, Lyapunov method

Abstract

Ramin Shamshiri1*, Wan Ishak Wan Ismail2 (1. Department of Agricultural and Biological Engineering, University of Florida, Gainesville, FL 32611, USA; 2. Department of Biological and Agricultural Engineering, Universiti Putra Malaysia, Serdang. Selangor Darul Ehsan, Malaysia) Abstract: Automated harvesting of oil palm trees requires research and development efforts in several robotics areas, including manipulator control. The objective of this paper was to apply nonlinear Lyapunov based control method for joint angles tracking of a two-link oil palm harvesting robot manipulator with uncertain system parameters. Four different controllers, including exact model knowledge, adaptive, sliding mode control and high gain feedback control were proposed and simulated. Stability analyses were performed for each case in the absence and presence of bounded disturbance. The controllers were then compared against each other based on their performances and control efforts. Keywords: harvesting robotics, oil palm, nonlinear control, manipulator control, Lyapunov method DOI: 10.3965/j.ijabe.20120502.002 Citation: Shamshiri R, Wan Ishak W I. Nonlinear tracking control of a two link oil palm harvesting robot manipulator. Int J Agric & Biol Eng, 2012; 5(2): 9

Author Biographies

Ramin Shamshiri, Department of Agricultural and Biological Engineering, University of Florida, Gainesville, FL 32611, USA

Ramin Shamshiri received the Bachelor of Science degree in 2005 from the Department of Power and Machinery Engineering at Bu-Ali Sina University, Hamedan, Iran. He then moved to Malaysia in 2005 and worked as a research assistant in the Institute of Advanced Technology. In 2007, he joined the University of Florida as a graduate student in the department of Agricultural and Biological Engineering where he has received his Master of Science in 2010.

Wan Ishak Wan Ismail, Universiti Putra Malaysia

Professor,Department of Biological and Agricultural Engineering, Universiti Putra Malaysia Serdang. Selangor Darul Ehsan, Malaysia

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How to Cite

Shamshiri, R., & Wan Ismail, W. I. (2012). Nonlinear tracking control of a two link oil palm harvesting manipulator. International Journal of Agricultural and Biological Engineering, 5(2), 9–19. https://doi.org/10.25165/ijabe.v5i2.601

Issue

Vol. 5 No. 2 (2012): IJABE

Section

Power and Machinery Systems

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