2-DOF robot manipulator control using fuzzy PD control with SimMechanics and sliding mode control: A comparative study

Abstract

This paper presents a comparative study of two control approaches; fuzzy proportional derivative control (PD) and sliding mode control (SMC) for a two degree of freedom (2-DOF) robot manipulator. It presents the implementation of both model based and model free based control. SimMechanics is used for modelling of the robot which requires a little knowledge regarding the dynamics of the system. A robust SMC is designed with constant plus proportional rate reaching. Simulation is performed to demonstrate the effectiveness of control strategies. Simulations' result reveals that control schemes are working satisfactorily. Control effort and degree of tracking for both the controllers are analyzed and compared.