A Comparative Performance Analysis of PID Control and Sliding Mode Control of Two Link Robot Manipulator

Authors

  • Priyanka Singh Priyanka Singh, Department of Electrical Engineering, Madan Mohan Malaviya University of Technology, Gorakhpur, U.P, India Author
  • L.B Prasad L.B Prasad, Department of Electrical Engineering, Madan Mohan Malaviya University of Technology, Gorakhpur, U.P, India Author

DOI:

https://doi.org/10.47392/irjash.2020.35

Keywords:

Lyapunov stability theorem, PID, SMC, Link robot manipulator, Variable Structure System

Abstract

The paper deals with study of SMC for a robot manipulator. The property of the robot manipulator has low sensitivity to distortions and more efficient than other controllers. The tracking control difficulty for two-link robot manipulator which obeys the Lyapunov stability theorem, the back stepping control (BC) and (SMC) is denoted. The comparison of PID controller and SMC controller has been done by the application of Two-link robot manipulator by using MATLAB technique by constructing simulink models. The stability has been elaborated by comparing the performance of the PID and SMC and investigating the most efficient controller. 

Downloads

Published

2020-06-28

Issue

Vol. 2 No. 06 (2020): IRJASH Vol.02 Issue 06- [JUN 2020]

Section

Research Articles

License

Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.