Comparison of conventional PID controller with sliding mode controller for a 2-link robotic manipulator

机译：传统的PID控制器与2链接机器人操纵器的滑模控制器的比较

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Considering the increase in application of robotic manipulators in various dimensions, trajectory tracking has become one of the important aspects for controllers. This paper depicts a comparison between the conventional PID controller and sliding mode controller (SMC) for a double link robotic manipulator. The paper adheres to the problem of modelling and controller design keeping the non-linearity associated with robotic manipulator in mind. The aim of this paper is to examine which controller is more robust for trajectory tracking. Simulation is carried out in MATLAB and the system output is plotted against the reference input to record the tracking performance.

机译：考虑到各种尺寸的机械手应用的增加，轨迹跟踪已成为控制器的重要方面之一。本文描述了双链接机器人操纵器的常规PID控制器和滑模控制器（SMC）之间的比较。本文坚持建模和控制器设计的问题，同时牢记与机器人机械手相关的非线性。本文的目的是研究哪种控制器对轨迹跟踪更鲁棒。在MATLAB中进行仿真，并将系统输出相对于参考输入作图，以记录跟踪性能。

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来源
《2016 International Conference on Electrical Power and Energy Systems》|2016年|115-119|共5页
会议地点 Bhopal(IN)
作者
Surabhi Singh; Mohd. Salim Qureshi; Pankaj Swarnkar;
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作者单位

Electrical EngineeringDepartment, Maulana Azad National, Institute of technology, Bhopal, India;

Electrical Engineering Department, Maulana Azad National, Institute of Technology, Bhopal, India;

Electrical Engineering Department, Maulana Azad National, Institute of Technology, Bhopal, India;

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原文格式 PDF
正文语种 eng
中图分类
关键词
Trajectory tracking; Robustness; Manipulator dynamics; Sliding mode control; Switches;

机译：轨迹跟踪;鲁棒性;机械手动力学;滑模控制;开关;

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专利

1. Chattering-free adaptive fast convergent terminal sliding mode controllers for position tracking of robotic manipulators [J] . He Shaoming, Lin Defu, Wang Jiang Proceedings of the Institution of Mechanical Engineers, Part C. Journal of mechanical engineering science . 2016,第4期

机译：用于机器人操纵器位置跟踪的无抖动自适应快速收敛终端滑模控制器
2. Design of robust fractional order fuzzy sliding mode PID controller for two link robotic manipulator system [J] . Kumar Jitendra, Kumar Vineet, Rana K. P. S. Journal of intelligent & fuzzy systems: Applications in Engineering and Technology . 2018,第5期

机译：两个链接机器人机械系统的鲁棒分数秩序模糊滑模PID控制器的设计
3. Sliding Mode Control (SMC) of Robot Manipulator via Intelligent Controllers [J] . Neha Kapoor, Jyoti Ohri Journal of The Institution of Engineers (India): Series B . 2017,第1期

机译：通过智能控制器对机器人机械手进行滑模控制（SMC）
4. Comparison of conventional PID controller with sliding mode controller for a 2-link robotic manipulator [C] . Surabhi Singh, Mohd. Salim Qureshi, Pankaj Swarnkar International Conference on Electrical Power and Energy Systems . 2016

机译：用于2连杆机器人操纵器的滑动模式控制器的传统PID控制器的比较
5. Implementation of a knowledge-based fuzzy logic controller and a fuzzy-sliding mode controller to control flexible robotic manipulators. [D] . Bazzi, Bilal A. 2004

机译：基于知识的模糊逻辑控制器和模糊滑模控制器的实现，以控制柔性机械手。
6. Comparison of HIV DNA and RNA in Gut-Associated Lymphoid Tissue of HIV-Infected Controllers and Non-controllers [O] . Hiroyu Hatano, Ma Somsouk, Elizabeth Sinclair, -1

机译：HIV感染的控制者和非控制者肠道相关淋巴组织中HIV DNA和RNA的比较
7. Characterization and Designing Integral Sliding Mode Controller for 2-Link Robot System with Coulomb Friction [O] . Dena Hameed Tuma, Ahmed K. Hammoudi 2020

机译：用库仑摩擦，2连杆机器人系统的表征与设计整体滑动模式控制器
8. Dynamic modeling, property investigation, and adaptive controller design of serial robotic manipulators modeled with structural compliance [R] . Tesar, Delbert, Tosunoglu, Sabri, Lin, Shyng-Her 1990

机译：动态建模，属性调查和串行机器人操纵器的自适应控制器设计与结构顺应性建模

Comparison of conventional PID controller with sliding mode controller for a 2-link robotic manipulator

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