Open AccessOptimal Tuning of the SMC Parameters for a Two-Link Manipulator Co-Simulation Control
Author(s) -
Sinan İlgen,
Akif Durdu,
Erdi Gülbahçe,
Abdullah Çakan
Publication year - 2021
Publication title -
elektronika ir elektrotechnika
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.224
H-Index - 26
eISSN - 2029-5731
pISSN - 1392-1215
DOI - 10.5755/j02.eie.28954
Subject(s) - pid controller , control theory (sociology) , settling time , matlab , controller (irrigation) , trajectory , computer science , position (finance) , control engineering , tracking (education) , tracking error , engineering , step response , control (management) , artificial intelligence , temperature control , psychology , agronomy , pedagogy , physics , finance , astronomy , biology , economics , operating system
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.