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Robust Model-Free Control for Robot Manipulator under Actuator Dynamics

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  • Dorsaf Elleuch
  • Tarak Damak

Abstract

An intelligent proportional-derivative sliding mode controller (i-PDSMC) is presented to overcome the unmodeled complexity of the robot manipulator under an actuator. i-PDSMC is a free model intelligent control based on the ultralocal, sliding mode, and PD control structure. A stability condition is determined by the Lyapunov theory. A comparative study between a classical PD, an intelligent PD control, and i-PDSMC is done through a robot manipulator under actuators. The simulation results prove that the proposed controller is more robust to trajectory tracking under parameter variations and external disturbances.

Suggested Citation

  • Dorsaf Elleuch & Tarak Damak, 2020. "Robust Model-Free Control for Robot Manipulator under Actuator Dynamics," Mathematical Problems in Engineering, Hindawi, vol. 2020, pages 1-11, August.
    • Handle: RePEc:hin:jnlmpe:7417314
    DOI: 10.1155/2020/7417314
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