Comparison study on advanced control of two 2DOF manipulator robots

Abstract

This paper presents a Comparison study on advanced control of Two 2DOF Manipulator robots. Robust controller for robot manipulators using Fractional Order PID control, conventional PID controller and Sliding Mode control (SMC) are presented. FOPID controllers' parameters are composed of the proportional constant, integral constant, derivative constant, derivative order and integral order. The design of FOPID is more complex than that of conventional proportional-integral-derivative (PID) controller. However, it has more degrees-of-freedom (DOF) than its integer-order counterpart. Simulations results as well as comparisons between FOPID control, conventional PID controller and Sliding Mode control (SMC) has been done to prove the superiority of the proposed approach. The control scheme is validated through a set of simulations on a Matlab/Simulink package.