Comparative performance analysis of PD/PID computed torque control, filtered error approximation based control and NN control for a robot manipulator

This paper presents a comparative performance analysis of the control strategies for a two link planar robotic manipulator. In this work PD/PID computed torque control, filtered error approximation based adaptive control, and neural network (NN) control methods are considered for comparative performance analysis. The comparative analysis of the results demonstrates that the neural network controller gives the most effective results and confirms that the dynamical system can track the desired trajectory. The computer simulation is carried out using MATLAB and satisfactory results are presented which demonstrate the tracking capability and the effectiveness of the proposed control scheme.