PID Controller for Robotic Manipulator Nonlinear Model and Compare with Sliding Mode Controller

Abstract

In this paper, the nonlinear model of the robotic manipulator has been chosen as the model to be studied. Nowadays, complicated controllers are commonly discussed in many researches. In this work, it will be shown that a simple, practical PID controller operates much better than a robust and nonlinear sliding mode controller in the aforesaid system. Simulation results and the comparison of these two controllers prove this claim to be true. Finally, a robust analysis has been done by which the resistance of these controllers is assessed.