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Comparison of Two Techniques for Controlling the Parallel Robot Par4: CTC and SMC | IEEE Conference Publication | IEEE Xplore

Comparison of Two Techniques for Controlling the Parallel Robot Par4: CTC and SMC


Abstract:

The objective of this paper is to compare the performance between two conventional controllers of the Par4 parallel robot: the computed torque control (CTC) and the slidi...Show More

Abstract:

The objective of this paper is to compare the performance between two conventional controllers of the Par4 parallel robot: the computed torque control (CTC) and the sliding mode control (SMC). CTC is considered as the classic controller which is used to control robots. However, it is not robust for very accurate and uncertain systems. Unlike CTC, the SMC is a robust, precise and stable. It is the most popular controller and it is used to control non-linear, precise and very quick systems like robots or motors. The performance of these two controllers was verified using simulation results using MATLAB / SIMULINK. The simulation results show the superior performance of SMC compared to the CTC for position control in the presence of parameters.
Date of Conference: 19-22 March 2018
Date Added to IEEE Xplore: 09 December 2018
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Conference Location: Yasmine Hammamet, Tunisia

References

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