Abstract

This work addresses the trajectory tracking control of a Delta parallel robot, which is widely used in high-speed and high-precision industrial applications such as pick-and-place operations and additive manufacturing. Due to the nonlinear dynamics, variable payloads, and external disturbances inherent to parallel manipulators, classical control strategies may suffer from performance degradation.

To overcome these challenges, a fractional-order proportional–derivative (FOPD) controller is proposed. Fractional calculus introduces additional tuning parameters that enhance controller flexibility and robustness. The Delta robot model is developed, and both classical PD and fractional-order PD controllers are implemented and evaluated through MATLAB/Simulink simulations.

Simulation results, based on the Root Mean Square Error (RMSE) criterion, demonstrate improved tracking accuracy and robustness of the fractional-order PD controller, particularly under load variations and disturbances. The proposed control strategy achieves smoother responses, reduced vibration, and better disturbance rejection compared to the conventional PD controller.

About the Speaker

Mr. Ahmed Chalal is a Graduate Student in the Control and Instrumentation Engineering Department at King Fahd University of Petroleum and Minerals (KFUPM), Saudi Arabia. He holds a Master’s degree in Automation and Industrial Control from Algeria in 2023, and is currently pursuing an M.Sc. Degree in the Control and Instrumentation Engineering Department at KFUPM. His research interests include robotics control, classical control, autonomous systems, multi-agent navigation, and intelligent control. He has hands-on experience in robotic systems, PLC-based automation, embedded systems, and hardware experimentation, and participated in many international competitions.