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Improved Shuffled Frog Leaping Algorithm with Self-Adaptive Shuffling for Fuzzy Logic PD+G Controller Optimization in Robotic Manipulators

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Comparison of Robustness of PID Control and Sliding Mode Control of Robotic Manipulator

Published on None 2011 by Jyoti Ohri, Dhaval R. Vyas, Pretty Neelam Topno
journal_cover_thumbnail

International Symposium on Devices MEMS, Intelligent Systems & Communication
Foundation of Computer Science USA
ISDMISC - Number 7
None 2011
Authors: Jyoti Ohri, Dhaval R. Vyas, Pretty Neelam Topno
764114e9-62f8-48e1-b6ca-2372d2843c1f

Jyoti Ohri, Dhaval R. Vyas, Pretty Neelam Topno . Comparison of Robustness of PID Control and Sliding Mode Control of Robotic Manipulator. International Symposium on Devices MEMS, Intelligent Systems & Communication. ISDMISC, 7 (None 2011), 5-10.

@article{
author = { Jyoti Ohri, Dhaval R. Vyas, Pretty Neelam Topno },
title = { Comparison of Robustness of PID Control and Sliding Mode Control of Robotic Manipulator },
journal = { International Symposium on Devices MEMS, Intelligent Systems & Communication },
issue_date = { None 2011 },
volume = { ISDMISC },
number = { 7 },
month = { None },
year = { 2011 },
issn = 0975-8887,
pages = { 5-10 },
numpages = 6,
url = { /proceedings/isdmisc/number7/3486-isdm147/ },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Proceeding Article
%1 International Symposium on Devices MEMS, Intelligent Systems & Communication
%A Jyoti Ohri
%A Dhaval R. Vyas
%A Pretty Neelam Topno
%T Comparison of Robustness of PID Control and Sliding Mode Control of Robotic Manipulator
%J International Symposium on Devices MEMS, Intelligent Systems & Communication
%@ 0975-8887
%V ISDMISC
%N 7
%P 5-10
%D 2011
%I International Journal of Computer Applications
Abstract

High accuracy trajectory tracking is challenging topic in robotic manipulator control. This is due to nonlinearities and input coupling present in robotic arm. This paper is concerned with the problem of modelling and control of two degree of freedom robotic manipulator. PID controller and sliding mode controller is derived so that actual trajectory tracks desired trajectory as close as possible despite of highly nonlinear and coupled dynamics. The goal is to determine which control strategy exhibit more robustness. Simulation study has been done in Matlab/Simulink environment shows that both the controllers are capable to control robot manipulator successfully. The result shows that Sliding Mode Control (SMC) produce better response compared to PID Control strategy when payload is changed.

References
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Index Terms

Computer Science
Information Sciences

Keywords

Robotic manipulator PID controller Manipulator control Sliding mode control