CFP last date
20 May 2024
Call for Paper
June Edition
IJCA solicits high quality original research papers for the upcoming June edition of the journal. The last date of research paper submission is 20 May 2024

Submit your paper
Know more
The week's pick
Responsive image
Enhancing Privacy Preservation: Multi-Attribute Protection with P-Sensitive K-Anonymity

Twinkle Patel Kiran Amin
Random Articles
Reseach Article

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
  1. M.Gopal, Digital Control and State Variable Methods, 3rd edition, Tata McGrawhill, 575-581, 603-607, 2009.
  2. Rachid Manseur, Robot Modelling and Kinematics, Firewall Media, 96-100, 2007.
  3. C. Edwards and S.K. Spurgeon, Sliding Mode Control: Theory and Application, London: Taylor and Francis, 1998.
  4. Yonggu Kim, Jinwook Seok, Ilhwan Noh and Sangchul Won, An Adaptive Disturbance Observer for A Two-link Robot Manipulator, International Conference on Control, Automation and System, 141-145, 2008.
  5. A. N. K. Nasir, R. M. T. Raja Ismail and M. A. Ahmad, Performance Comparison between Sliding Mode control and PD-PID Control for a Nonlinear Inverted Pendulum System, World Academy of Science, Engineering and Technology 70, 400-405, 2007.
  6. M. Nakao, K. Ohnishi and K. Miyachi, A Robust Decentralized Joint Control Based on Interference Estimation, IEEE Int. Conf. on Robotics and Automation, 326-331, 1987.
  7. Mohamad Noh Ahmad and Johri H.S. Osman, Application of Proportional-Integral Sliding Mode Controller to Robot Manipulator, IEEE Int. Conf. on Robotics and Automation, 87-92, 2003
  8. De Carlo, R. A., Zak, S. H., and Mathews, G. P., Variable Structure Control of Nonlinear Multivariable Systems: A Tutorial, Proc. IEEE, Vol. 76, No.3, 212-232, 1988.
  9. J. Y.Hung, W. Gao and J. C. Hung, Variable Structure Control: A survey, Trans. IEEE Industrial Electronics, Vol. 40, No.1, 2-22, 1993
  10. V. I. Utkin, Variable Structure Systems with Sliding Modes, IEEE Trans. Automatic Control, Vol. AC-22, No.2, 212-222, 1977.
  11. T. Emelyanov, Su rune classe de systems de regulation automatic a structure variable, journal de I’academie des science d’URSS, Energetique et automatique, 1962.
Index Terms

Computer Science
Information Sciences

Keywords

Robotic manipulator PID controller Manipulator control Sliding mode control