Trajectory Tracking Control of 3-DOF Delta Robot Using Dynamic Surface Control

摘要

Currently, the optimization method for this study is to use the Dynamic Surface Control (DSC) approach for Delta robots. It assists the robot in quickly achieving the most ideal approximation motion trajectory (Tracking control) in relation to the intended trajectory, preserving system stability against unidentified external disturbances influencing joint moments, and resolving the explosion of terms problem by means of a first-order filter. The system’s stability is thoroughly established, and it is intimately related to Lyapunov stability theory. Using Matlab and Simulink tools, numerical simulation results on the figure-eight trajectory are used to assess the controller’s performance. Furthermore, the DSC controller is contrasted with Backstepping, an alternative control technique. The findings demonstrate that the DSC controller performs better than Backstepping in terms of controlling the Delta robot’s motion along the intended trajectory with less error, faster reaction times, and increased stability, particularly in situations where the system is impacted by unidentified external disturbances and when dealing with the Backstepping-related problem of term explosion.