Sliding Mode and PI Controllers for Uncertain Flexible Joint Manipulator

This paper is dealing with the problem of tracking control for uncertain flexible joint manipulator robots driven by brushless direct current motor(BDCM). Flexibility of joint in the manipulator constitutes one of the most important sources of uncertainties. In order to achieve high performance, all...

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Bibliographic Details
Published in:International journal of automation and computing 2015-04, Vol.12 (2), p.117-124
Main Authors: Zouari, Lilia, Abid, Hafedh, Abid, Mohamed
Format: Article
Language:English
Subjects:
brushless
CAE) and Design
Computer Applications
Computer-Aided Engineering (CAD
Control
controller
Controllers
current
direct
Engineering
Flexibility
Flexible
integral(PI)
joint
manipulator
Manipulators
Matlab
Mechatronics
mode
motor
proportional
Regular Paper
Robot arms
Robotics
Robots
sliding
Sliding mode
uncertainties
Uncertainty
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Summary:This paper is dealing with the problem of tracking control for uncertain flexible joint manipulator robots driven by brushless direct current motor(BDCM). Flexibility of joint in the manipulator constitutes one of the most important sources of uncertainties. In order to achieve high performance, all parts of the manipulator including actuator have been modeled. To cancel the tracking error, a hysteresis current controller and speed controllers have been developed. To evaluate the effectiveness of speed controllers, a comparative study between proportional integral(PI) and sliding mode controllers has been performed. Finally, simulation results carried out in the Matlab simulink environment demonstrate the high precision of sliding mode controller compared with PI controller in the presence of uncertainties of joint flexibility.
ISSN:1476-8186
1751-8520
DOI:10.1007/s11633-015-0878-x