Abstract
An intelligent proportional-derivative sliding mode controller (i-PDSMC) is presented to overcome the unmodeled complexity of the robot manipulator under an actuator. i-PDSMC is a free model intelligent control based on the ultralocal, sliding mode, and PD control structure. A stability condition is determined by the Lyapunov theory. A comparative study between a classical PD, an intelligent PD control, and i-PDSMC is done through a robot manipulator under actuators. The simulation results prove that the proposed controller is more robust to trajectory tracking under parameter variations and external disturbances.
Highlights
Disturbance and uncertainty are the major problems of the robot manipulator control
A comparative study between a classical PD, an intelligent PD control, and intelligent proportional-derivative sliding mode controller (i-PDSMC) is done through a robot manipulator under actuators. e simulation results prove that the proposed controller is more robust to trajectory tracking under parameter variations and external disturbances
In [1], a comparative study is done between PD, SMC, and PD-SMC in which the last controller showed the best performance under parameter variations
Summary
Disturbance and uncertainty are the major problems of the robot manipulator control. In the literature, many modelbased controls have shown a robustness to overcome uncertainty such as the sliding mode control, but the chattering phenomenon is still its major problem, or the backstepping control, which is limited for strict feedback nonlinear systems. The intelligent PI (i-PI) [7, 8] and the intelligent PD (i-PD) [9,10,11] are studied in the literature Both controllers, which are validated on complex nonlinear systems, show the best performance compared to other different model-based controls. E proposed controller is compared to a classical PD controller and an i-PD controller, and robustness under parameter variations and external disturbance is validated using a robot manipulator under actuator dynamics. The three previous controllers are applied to the robot manipulator, and simulation results under parameter variation and external disturbance are presented. An actuator dynamic related to the robot manipulator model effect is considered in many interesting research studies. Model (7) will be applied to the controller defined in the following to test its performance under uncertainty
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