161997 20260112133143.0 doi 10.3390/engproc2024077018 sideral 144680 ART-2024-144680 eng Robles, David Development and evaluation of proportional-derivative, proportional-derivative with friction compensation, inverse-dynamics, and sliding-mode control strategies for trajectory-tracking in robotic manipulators 2024 Access copy available to the general public Unrestricted 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. info:eu-repo/semantics/openAccess by https://creativecommons.org/licenses/by/4.0/deed.es 0.205 2024 Industrial and Manufacturing Engineering 2024 Q3 Mechanical Engineering 2024 Q4 Biomedical Engineering 2024 Q4 Electrical and Electronic Engineering 2024 Q4 1.2 2024 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Medrano, Ney Chicay, Yuliana Pilatasig, Marjorie Andaluz, Gabriela M. Universidad de Zaragoza (orcid)0000-0002-0679-6340 Leica, Paulo 4000 415 Universidad de Zaragoza Dpto. Análisis Económico Área Fund. Análisis Económico 77, 18 (2024), 9 Eng. proc. (Basel) Engineering proceedings (Basel) 2673-4591 1917887 http://zaguan.unizar.es/record/161997/files/texto_completo.pdf Versión publicada 2731903 http://zaguan.unizar.es/record/161997/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:161997 articulos driver 2026-01-12-12:35:58 ARTICLE