scholarly journals Improvement of Trajectory-Tracking Control Performance of Mobile Manipulators Traveling On Unknown Irregular Terrain-Identification of Terrain Shape and Torque Compensation Using A Learning Method-

2004 ◽  
Vol 22 (1) ◽  
pp. 93-102
Author(s):  
Masatoshi Hatano ◽  
Tsuyoshi Ohsumi ◽  
Haruki Obara ◽  
Mamoru Minami
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Mobile Manipulators ◽  
Learning Method ◽  
Control Performance ◽  
Trajectory Tracking Control ◽  
Irregular Terrain

scholarly journals Optimal Tuning of the SMC Parameters for a Two-Link Manipulator Co-Simulation Control

2021 ◽  
Author(s):  
Sinan Ilgen ◽  
Akif Durdu ◽  
Erdi Gulbahce ◽  
Abdullah Cakan
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Pid Controller ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Optimization Methods ◽  
Effective Control ◽  
Control Performance ◽  
Trajectory Tracking Control ◽  
Simplex Search

This paper presents the trajectory tracking control of a two-link planar robot manipulator using MSC Adams and MATLAB co-simulation which enables the innovative virtual prototyping of the systems without any mathematical expressions. Firstly, the tracking control performance of the planar manipulator is investigated using the Sliding Mode Control (SMC) controller and the Proportional Integral Derivative (PID) controller in terms of the performance analysis. As a result, the SMC demonstrates effective control performances compared to the PID controller according to the required trajectory, settling time, and end position of the system. Then, the SMC controller parameters are determined using the different optimization methods offered as open source by MATLAB/Response Optimization Toolbox and compared to each other. In the virtual co-simulation, the trajectory tracking control performance is observed to be improved by optimizing the parameters of the SMC controller using Simplex Search (SS) method. All control results are examined and presented with graphics and international error standards.

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