Development and Evaluation of Proportional-Derivative, Proportional-Derivative with Friction Compensation, Inverse-Dynamics, and Sliding-Mode Control Strategies for Trajectory-Tracking in Robotic Manipulators
Year: 2024
Type: conference-paper
Abstract: In this paper, four control strategies are developed and evaluated for the trajectory-tracking of a two-degree-of-freedom SCARA-type robotic manipulator: (i) a proportional-derivative controller (PD), (ii) a proportional-derivative controller with friction compensation (PD + G), (iii) an inverse-dynamics controller and (iv) a sliding-mode controller with a dynamic model (SMCD).
Authors: David Robles, Ney Medrano, Yuliana Chicay, Marjorie Pilatasig, Gabriela M. Andaluz, Paulo Leica
Institutions: National Polytechnic School, Universidad de Zaragoza
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Funder: Escuela Politécnica Nacional
OpenAlex ID: W4404486673