Optimal Tuning of the SMC Parameters for a Two-Link Manipulator Co-Simulation Control

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 manipulato...

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Autores principales:	Sinan Ilgen, Akif Durdu, Erdi Gulbahce, Abdullah Cakan
Formato:	article
Lenguaje:	EN
Publicado:	Kaunas University of Technology 2021
Materias:	manipulators matlab robot control simulation sliding mode control optimization Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/cbbc6dbf0c41432c90718cbc360af66e
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spelling	oai:doaj.org-article:cbbc6dbf0c41432c90718cbc360af66e2021-11-04T14:14:15ZOptimal Tuning of the SMC Parameters for a Two-Link Manipulator Co-Simulation Control1392-12152029-573110.5755/j02.eie.28954https://doaj.org/article/cbbc6dbf0c41432c90718cbc360af66e2021-10-01T00:00:00Zhttps://eejournal.ktu.lt/index.php/elt/article/view/28954https://doaj.org/toc/1392-1215https://doaj.org/toc/2029-5731This 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 co-simulation, 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.Sinan IlgenAkif DurduErdi GulbahceAbdullah CakanKaunas University of Technologyarticlemanipulatorsmatlabrobot controlsimulationsliding mode controloptimizationElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENElektronika ir Elektrotechnika, Vol 27, Iss 5, Pp 4-10 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	manipulators matlab robot control simulation sliding mode control optimization Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	manipulators matlab robot control simulation sliding mode control optimization Electrical engineering. Electronics. Nuclear engineering TK1-9971 Sinan Ilgen Akif Durdu Erdi Gulbahce Abdullah Cakan Optimal Tuning of the SMC Parameters for a Two-Link Manipulator Co-Simulation Control
description	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 co-simulation, 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.
format	article
author	Sinan Ilgen Akif Durdu Erdi Gulbahce Abdullah Cakan
author_facet	Sinan Ilgen Akif Durdu Erdi Gulbahce Abdullah Cakan
author_sort	Sinan Ilgen
title	Optimal Tuning of the SMC Parameters for a Two-Link Manipulator Co-Simulation Control
title_short	Optimal Tuning of the SMC Parameters for a Two-Link Manipulator Co-Simulation Control
title_full	Optimal Tuning of the SMC Parameters for a Two-Link Manipulator Co-Simulation Control
title_fullStr	Optimal Tuning of the SMC Parameters for a Two-Link Manipulator Co-Simulation Control
title_full_unstemmed	Optimal Tuning of the SMC Parameters for a Two-Link Manipulator Co-Simulation Control
title_sort	optimal tuning of the smc parameters for a two-link manipulator co-simulation control
publisher	Kaunas University of Technology
publishDate	2021
url	https://doaj.org/article/cbbc6dbf0c41432c90718cbc360af66e
work_keys_str_mv	AT sinanilgen optimaltuningofthesmcparametersforatwolinkmanipulatorcosimulationcontrol AT akifdurdu optimaltuningofthesmcparametersforatwolinkmanipulatorcosimulationcontrol AT erdigulbahce optimaltuningofthesmcparametersforatwolinkmanipulatorcosimulationcontrol AT abdullahcakan optimaltuningofthesmcparametersforatwolinkmanipulatorcosimulationcontrol
_version_	1718444868233068544

Optimal Tuning of the SMC Parameters for a Two-Link Manipulator Co-Simulation Control

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