COMPARISON OF SLIDING MODE CONTROLLER AND PID CONTROLLER APPLICATION IN CONTROLLING TWO-DEGREE-OF-FREEDOM ROBOT ARM

Dinh-Hanh Tran; Duc-Hung Pham; Ngoc- Thang Pham; The- Thanh Bui

Dinh-Hanh Tran Faculty of Electrical and Electronic Engineering, Hung Yen University of Technology and Education; Department of electromechanics, Hanoi Industrial Textile Garment University
Duc-Hung Pham Faculty of Electrical and Electronic Engineering, Hung Yen University of Technology and Education
Ngoc- Thang Pham Faculty of Electrical and Electronic Engineering, Hung Yen University of Technology and Education
The- Thanh Bui Department of electromechanics, Hanoi Industrial Textile Garment University

Keywords: Two-degree-of-freedom robot arm, Sliding mode controller, PID controller

Abstract

The aim of this paper is to present a model of a robotic arm with two degrees of freedom and the application of sliding mode and PID controllers to control the robotic arm. The paper presents the modeling and design of a nonlinear controller for the robot arm. To evaluate the quality and accuracy of the system, the authors created a robot arm model and a control algorithm using MATLAB Simulink software. The simulation results show high accuracy, with the control angles retaining the originally set values. A comparison between sliding mode control and PID control in controlling the robot arm with two degrees of freedom is performed for the angular coordinates of each arm link.

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