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

Singh, Surabhi; Qureshi, Mohd Salim; Swarnkar, Pankaj

doi:10.1109/icepes.2016.7915916

Cited by 6 publications

(6 citation statements)

References 6 publications

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“…It provides robustness and stability. In the literature, it is endowed that SMC is efficacious in controlling the extensive series of plants including discrete-time systems, non-linear highly coupled uncertain systems and MIMO (multiple-input multipleoutput) system [2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17]. As SMC provide robustness and stability; so in surgical robots, there is a requirement of SMC.…”

Section: Sliding Mode Control For Robotic Manipulatormentioning

confidence: 99%

“…In PD-SMC [15], the PD type based sliding surface includes the proportional and derivative terms to react quickly with the change in error i.e. given by:…”

Section: Sliding Mode Control For Robotic Manipulatormentioning

confidence: 99%

“…In PID-SMC, the PID [10][11][12][13][14][15][16][17] based sliding surface includes the derivative part along with integral term to minimize the error i.e. specified by:…”

Section: Sliding Mode Control For Robotic Manipulatormentioning

confidence: 99%

See 2 more Smart Citations

Design of Smoothing FOPID Sliding Mode Controlled Robotic Manipulator for Robotic-Assisted Surgery

Sachan¹,

Swarnkar²,

Nema³

2019

IJRTE

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Robotic-assisted surgery (RAS) is a mode of technical advancement in the medical field that utilizes robotic articulation to aid surgeries. The fine-motion and precise control of robotic manipulator is prerequisite in surgical applications. In this paper, the improved control methodology for controlling the 3DOF (degree of freedom) robotic manipulator's motion named as smoothing fractional order proportional integral derivativesliding mode control (FOPID-SMC) for the attainment of finest results by eliminating the perturbations has been showcased. The performance of smoothing FOPID-SMC controller in robotic manipulator is compared with the conventional SMC controllers. The simulation results prominently illustrate the efficacy of the proposed methodology, and superior tracking and robust performance with alleviated chattering compared to the classical methodologies. Index Terms: DOF (Degree of freedom), FOPID-SMC, Robotic-assisted surgery (RAS), Robotic manipulator, SMCI.

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Section: Sliding Mode Control For Robotic Manipulatormentioning

confidence: 99%

“…In PD-SMC [15], the PD type based sliding surface includes the proportional and derivative terms to react quickly with the change in error i.e. given by:…”

Section: Sliding Mode Control For Robotic Manipulatormentioning

confidence: 99%

See 1 more Smart Citation

Design of Smoothing FOPID Sliding Mode Controlled Robotic Manipulator for Robotic-Assisted Surgery

Sachan¹,

Swarnkar²,

Nema³

2019

IJRTE

Self Cite

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“…It has several benefits like a fast response, minimum human interferes, high reliability, better hygiene, and less aging effect. That is why Robotic assistance came out as a burgeoning solution to many problems associated with the medical field in the last few years [1][2][3]. An appliance class of mobile robot is track follower wheelchair.…”

Section: Introductionmentioning

confidence: 99%

Metaheuristics Algorithm for Tuning of PID Controller of Mobile Robot System

Goud¹,

Sharma²,

Nisar³

et al. 2022

Computers, Materials &Amp; Continua

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Robots in the medical industry are becoming more common in daily life because of various advantages such as quick response, less human interference, high dependability, improved hygiene, and reduced aging effects. That is why, in recent years, robotic aid has emerged as a blossoming solution to many challenges in the medical industry. In this manuscript, meta-heuristics (MH) algorithms, specifically the Firefly Algorithm (FF) and Genetic Algorithm (GA), are applied to tune PID controller constraints such as Proportional gain Kp Integral gain Ki and Derivative gain Kd. The controller is used to control Mobile Robot System (MRS) at the required set point. The FF arrangements are made based on various pre-analysis. A detailed simulation study indicates that the proposed PID controller tuned with Firefly Algorithm (FF-PID) for MRS is beneficial and suitable to achieve desired closed-loop system response. The FF is touted as providing an easy, reliable, and efficient tuning technique for PID controllers. The most suitable ideal performance is accomplished with FF-PID, according to the display in the time response. Further, the observed response is compared to those received by applying GA and conventional off-line tuning techniques. The comparison of all tuning methods exhibits supremacy of FF-PID tuning of the given nonlinear Mobile Robot System than GA-PID tuning and conventional controller.

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“…Nevertheless, the EHAs are complicated and still a big challenge because of their characteristics such as nonlinear and uncertainty parameters. To deal with the uncertainties which exist in the actuator dynamic and guarantee the stability of the system, the backstepping sliding mode control which takes advantage of the sliding surface in strong robustness against perturbation [25][26][27] and backstepping technique in solving both the problem of stabilization and tracking trajectory of nonlinear systems [4,5] and [28][29][30] is exploited.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fuzzy Backstepping Sliding Mode Control for a 3-DOF Hydraulic Manipulator with Nonlinear Disturbance Observer for Large Payload Variation

Truong

Tran

et al. 2019

Applied Sciences

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The paper proposes an adaptive fuzzy position control for a 3-DOF hydraulic manipulator with large payload variation. The hydraulic manipulator uses electrohydraulic actuators as primary torque generators to enhance carrying payload of the manipulator. The proposed control combines backstepping sliding mode control, fuzzy logic system (FLS), and a nonlinear disturbance observer. The backstepping sliding mode control includes a sliding mode control for manipulator dynamics and a PI control for actuator dynamics. The fuzzy logic system is utilized to adjust the control gain and robust gain of the sliding mode control (SMC) based on the output of the nonlinear disturbance observer to compensate the payload. The Lyapunov approach and backstepping technique are used to prove the stability and robustness of the whole system. Some simulations are implemented, and the results are compared to other controllers to exhibit the effectiveness of the proposed control.

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

Cited by 6 publications

References 6 publications

Design of Smoothing FOPID Sliding Mode Controlled Robotic Manipulator for Robotic-Assisted Surgery

Design of Smoothing FOPID Sliding Mode Controlled Robotic Manipulator for Robotic-Assisted Surgery

Metaheuristics Algorithm for Tuning of PID Controller of Mobile Robot System

Adaptive Fuzzy Backstepping Sliding Mode Control for a 3-DOF Hydraulic Manipulator with Nonlinear Disturbance Observer for Large Payload Variation

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