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International Journal of Mathematical, Engineering and Management Sciences

ISSN: 2455-7749 . Open Access


Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study

Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study

Mukti Tomar
Department of Mechanical Engineering, Maulana Azad National Institute of Technology, Bhopal, 462003, India.

Sunitha Mandava
Department of Electronics & Communication Engineering, R.V.R. & J.C. College of Engineering, Guntur, 522017, India.

Nuthalapti Hemalatha
Department of Electronics & Communication Engineering, R.V.R. & J.C. College of Engineering, Guntur, 522017, India.

Veeravalli Ramakoteswara Rao
Department of Mechanical Engineering, R.V.R. & J.C. College of Engineering, Guntur, 522017, India.

Ravi Kumar Mandava
Department of Mechanical Engineering, Maulana Azad National Institute of Technology, Bhopal, 462003, India.

DOI https://doi.org/10.33889/IJMEMS.2023.8.1.006

Received on May 27, 2022
  ;
Accepted on September 25, 2022

Abstract

Controlling the manipulators in a precise manner is a challenging task. To overcome this difficulty around the world, many researchers have developed various control algorithms but are not providing optimal results. To obtain the optimal results in the current research the authors designed a proportional, integral, and derivative (PID) controller, fuzzy logic controller (FLC), and sliding mode controller (SMC) for a 2-DOF manipulator. The concept of forward and inverse kinematics was initially solved after assigning the D-H parameters for each joint. The purpose of forward or direct kinematics is to obtain the position and orientation of the end effector. Further, the concept of inverse kinematics is used to estimate the joint angles. Later on, the Lagrange-Euler formulation was used to calculate the dynamics of the 2-DOF manipulator, which is required to estimate the torque required for each joint of the robotics arm. The main goal of this research problem is to optimize the angular error between the two successive events. Finally, the developed algorithm is compared with the existing algorithms such as PID and Fuzzy logic controller.

Keywords- 2-DOF manipulator, SMC, Dynamics, Lagrange-Euler formulation, PID, FLC.

Citation

Tomar, M., Mandava, S., Hemalatha, N., Rao, V. R. & Mandava, R. K (2023). Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study. International Journal of Mathematical, Engineering and Management Sciences, 8(1), 94-104. https://doi.org/10.33889/IJMEMS.2023.8.1.006.