Design and Analysis of Trajectory Tracking Controllers for Noisy 2-Link Robotic Manipulator

J. Vaishnavi, Bharat Singh, Rajesh Kumar

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

In the real world, the tracking controllers designed for ideal scenarios will be inaccurate due to presence of noise. This paper deals with trajectory tracking control of a two-link manipulator using three different tracking controllers namely, Proportional Integral Derivative (PID), Adaptive Neuro-Fuzzy Inference System (ANFIS), and Back-stepping controller in a noisy environment. Here, the PID controller is designed using the singular perturbation technique, it helps in dealing with external noise. However, its performance is not good with variable noise. Thus, the ANFIS controller is developed in which the rules are based on data collected from previously designed PID controller. Lastly, the back-stepping controller based on the virtual control signal using Lyapunov for zero error tracking is developed. The three controllers for the manipulator have been tested with the introduction of variable random noise and a fixed noise quantity. Performance analysis of these controllers is based on ISE (Integral Square Error), IAE (Integral Absolute Error), ITSE (Integral Time Squared Error), and ITAE (Integral Time Absolute Error). The simulation results illustrate the accuracy of the ANFIS controller which has better tracking in comparison to the other two control schemes with comparable torque inputs.

Original languageEnglish
Title of host publication2021 5th International Conference on Electrical, Electronics, Communication, Computer Technologies and Optimization Techniques, ICEECCOT 2021 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages544-549
Number of pages6
ISBN (Electronic)9781665432726
DOIs
Publication statusPublished - 2021
Externally publishedYes
Event5th International Conference on Electrical, Electronics, Communication, Computer Technologies and Optimization Techniques, ICEECCOT 2021 - Mysuru, India
Duration: 10 Dec 202111 Dec 2021

Publication series

Name2021 5th International Conference on Electrical, Electronics, Communication, Computer Technologies and Optimization Techniques, ICEECCOT 2021 - Proceedings

Conference

Conference5th International Conference on Electrical, Electronics, Communication, Computer Technologies and Optimization Techniques, ICEECCOT 2021
Country/TerritoryIndia
CityMysuru
Period10/12/2111/12/21

Keywords

  • ANFIS
  • back-stepping controller
  • Multi-Input Multi-Output (MIMO) nonlinear system
  • noise
  • PID control
  • Robotic manipulator
  • trajectory tracking

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering
  • Control and Optimization
  • Instrumentation

Fingerprint

Dive into the research topics of 'Design and Analysis of Trajectory Tracking Controllers for Noisy 2-Link Robotic Manipulator'. Together they form a unique fingerprint.

Cite this