Please use this identifier to cite or link to this item:
https://hdl.handle.net/20.500.13091/714
Title: | Optimal Tuning of the SMC Parameters for a Two Two-Link Manipulator Co-Simulation Control | Authors: | İlgen, Sinan Durdu, Akif Gülbahçe, Erdi Çakan, Abdullah |
Keywords: | Manipulators Matlab Robot Control Simulation Sliding Mode Control Optimization Fuzzy-Logic Tracking Error |
Publisher: | KAUNAS UNIV TECHNOLOGY | Abstract: | This paper presents the trajectory tracking control of a two-link planar robot manipulator using MSC Adams and MATLAB co-simulation which enables the innovative virtual prototyping of the systems without any mathematical expressions. Firstly, the tracking control performance of the planar manipulator is investigated using the Sliding Mode Control (SMC) controller and the Proportional Integral Derivative (PID) controller in terms of the performance analysis. As a result, the SMC demonstrates effective control performances compared to the PID controller according to the required trajectory, settling time, and end position of the system. Then, the SMC controller parameters are determined using the different optimization methods offered as open source by MATLAB/Response Optimization Toolbox and compared to each other. In the virtual cosimulation, the trajectory tracking control performance is observed to be improved by optimizing the parameters of the SMC controller using Simplex Search (SS) method. All control results are examined and presented with graphics and international error standards. | URI: | https://doi.org/10.5755/j02.eie.28954 https://hdl.handle.net/20.500.13091/714 |
ISSN: | 1392-1215 |
Appears in Collections: | Mühendislik ve Doğa Bilimleri Fakültesi Koleksiyonu Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collections WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collections |
Files in This Item:
File | Size | Format | |
---|---|---|---|
28954-Article Text-101832-2-10-20211026.pdf | 1.91 MB | Adobe PDF | View/Open |
CORE Recommender
SCOPUSTM
Citations
2
checked on Oct 12, 2024
WEB OF SCIENCETM
Citations
5
checked on Oct 12, 2024
Page view(s)
670
checked on Oct 14, 2024
Download(s)
446
checked on Oct 14, 2024
Google ScholarTM
Check
Altmetric
Items in GCRIS Repository are protected by copyright, with all rights reserved, unless otherwise indicated.