Development and evaluation of proportional-derivative, proportional-derivative with friction compensation, inverse-dynamics, and sliding-mode control strategies for trajectory-tracking in robotic manipulators

Robles, David ; Medrano, Ney ; Chicay, Yuliana ; Pilatasig, Marjorie ; Andaluz, Gabriela M. (Universidad de Zaragoza) ; Leica, Paulo

Resumen: In this paper, four control strategies are developed and evaluated for the trajectory-tracking of a two-degree-of-freedom SCARA-type robotic manipulator: (i) a proportional-derivative controller (PD), (ii) a proportional-derivative controller with friction compensation (PD + G), (iii) an inverse-dynamics controller and (iv) a sliding-mode controller with a dynamic model (SMCD). These controllers are implemented in a dynamic model of a manipulator robot, and their performance is assessed based on trajectory-tracking accuracy and robustness against disturbances. Robustness tests are conducted by varying the parameters of the dynamic model of the robot. The performance of each controller is analyzed using the Integral Squared Error (ISE) and the Integral of Time-weighted Squared Error (ITSE) indexes to compare their effectiveness. This study offers a comprehensive evaluation of each control strategy, demonstrating that the SMCD achieves the optimal balance between accuracy and disturbance robustness.

Idioma: Inglés

DOI: 10.3390/engproc2024077018

Año: 2024

Publicado en: Engineering proceedings (Basel) 77, 18 (2024), 9
ISSN: 2673-4591

Factor impacto SCIMAGO: 0.205 - Industrial and Manufacturing Engineering (Q3) - Mechanical Engineering (Q4) - Biomedical Engineering (Q4) - Electrical and Electronic Engineering (Q4)

Tipo y forma: Artículo (Versión definitiva)

Área (Departamento): Área Fund. Análisis Económico (Dpto. Análisis Económico)