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
Issue Date: 2021
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

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