Compare PID and PDF Control in 2 Degree of Freedom Robotic Manipulator

Abstract

This paper compare the differences between Proportional Integral Derivative (PID) and Pseudo Derivative Feedback (PDF) control algorithms in a two degree of freedom (DOF) planar robot manipulator. The PID and PDF control algorithms are compared in MATLAB which is a simple and practical tool for testing algorithms. An ODE45 function of MATLAB was used in order to solve differential equations. The solution of the differential equation contains the force acting on the actuator. Moreover, since the gain is unknown, a mathematical approach was introduced to carry out the gain. Simulation results showed that PDF control algorithm is shown to be superior to PID control algorithm by comparing the responses in MATLAB. Overshooting appeared in the PID algorithm disappears in the PDF algorithm. Keywords-PID; PDF; Control; Algorithms; MATLAB; Ode45