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

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.