Real-Time Speed Control of DC Gear-Motor Using PID Controller and Sliding Mode Control for Robotics

Abstract

In this paper, we design and implement a low-cost Arduino-based real-time PID controller and a sliding mode control (SMC) controller for the angular speed of a DC gearmotor in robotics applications. The DC motor's primary challenge is controlling the angular speed to a predetermined reference. This research then proposed a SMC design for tracking control in a DC motor, incorporating Arduino hardware. The final results will be compared with the performance of the PID controller. The SMC can effectively manage the system to get the setpoint with commendable performance, even when different setpoints are changed. As all state variables must be determined, the encoder sensor is used in the hardware implementation. According to the results, The PID controller can achieve the set point continuously with oscillation. Compared with the PID controller, the SMC has a better Overshoot, with a faster rise time less than 0.85s, a faster settling time of less than 0.6s, and zero steady state error.