A Comparison of Different Control Laws in Trajectory Control for a Revolute-Jointed Manipulator


Abstract: This study presents a comparison of different control laws for the trajectory control of a revolute-jointed manipulator. For this purpose, adaptive, robust and sliding mode control algorithms are applied to the model system so as to reduce tracking error at each joint. It is assumed that robot parameters are not known exactly and the system includes some uncertainties and disturbances. Computer simulation study of the revolute-jointed manipulators illustrates the effectiveness of different control algorithms in compensating disturbances and uncertainties for tracking different trajectories and, consequently, appropriate control parameters which reduce the tracking error have been determined.

Keywords: Adaptive control, Robust control, Sliding mode control, Parameter uncertainty, Tracking error.

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