Title :
2-DOF robot manipulator control using fuzzy PD control with SimMechanics and sliding mode control: A comparative study
Author :
Prabhas Ranjan Naik;Jagannath Samantaray;B K Roy;S K Pattanayak
Author_Institution :
Department of Electrical Engineering, National Institute of Technology Silchar, Silchar, Assam-788010, India
fDate :
6/1/2015 12:00:00 AM
Abstract :
This paper presents a comparative study of two control approaches; fuzzy proportional derivative control (PD) and sliding mode control (SMC) for a two degree of freedom (2-DOF) robot manipulator. It presents the implementation of both model based and model free based control. SimMechanics is used for modelling of the robot which requires a little knowledge regarding the dynamics of the system. A robust SMC is designed with constant plus proportional rate reaching. Simulation is performed to demonstrate the effectiveness of control strategies. Simulations´ result reveals that control schemes are working satisfactorily. Control effort and degree of tracking for both the controllers are analyzed and compared.
Keywords :
"PD control","Mathematical model","Niobium","Robot kinematics","Switches","Trajectory"
Conference_Titel :
Energy, Power and Environment: Towards Sustainable Growth (ICEPE), 2015 International Conference on
DOI :
10.1109/EPETSG.2015.7510101
