Design, Simulation, and Comparison of Advanced Control Strategies for a 3-Degree-of-Freedom Robot
Year: 2024
Type: article
Abstract: This study presents the design, simulation, and comparative analysis of three advanced control strategies applied to a 3-Degree-of-Freedom (DoF) robot manipulator. The controllers investigated are a variant from the Computed Torque Control family, a Proportional–Derivative–Integral with fuzzy logic (PD-PI + fuzzy) controller, and a Model Predictive Control (MPC) scheme. The controller performance is evaluated through the tracking of predefined trajectories in the three-dimensional space. The results are analyzed through XYZ coordinate motion graphs and 3D trajectories. To quantify performance, three error indicators are employed: Residual Mean Square (RMS) with a value of 0.0720 for the Computed Torque Controller, Residual Standard Deviation (RSD), and Index of Agreement (IA). The results demonstrate that the proposed controllers achieve accurate trajectory tracking, with IA values close to unity, demonstrating a high degree of concordance between the desired and executed trajectories.
Source: Applied Sciences
DOI: 10.3390/app142311010
Authors: Claudio Urrea, John Kern, Víctor Torres
Institution: Universidad de Santiago de Chile
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,728
OpenAlex ID: W4404765574