期刊名称：International Journal of Hybrid Information Technology
印刷版ISSN：1738-9968
出版年度：2016
卷号：9
期号：7
页码：171-190
DOI：10.14257/ijhit.2016.9.7.17
出版社：SERSC
摘要：The main objective in this research is comparative study between three types of control methodology: proportional-integral-derivative (PID) controller, computed torque controller (CTC), and sliding mode controller (SMC) with application to active multi degrees of freedom actuators. PID controller is a linear model-free controller; to control of nonlinear system based on PID controller system linearization is the main challenge. Computed torque controller and sliding mode controller are model-base and nonlinear. In order to design computed torque controller, an accurate dynamic model of nonlinear system plays an important role. To modelling an accurate dynamic system, modelling of complex parameters is needed to form the structure of system's dynamic model. It may be very difficult to include all the complexities in the system dynamic model. Computed torque controller is work very good in certain condition but in uncertainty, PID and CTC have some challenges. Conventional switching sliding mode controller is an apparent nominates to design a controller using the bounds of the uncertainties and external disturbance. In partly uncertainties, sliding mode controller is more robust than CTC and PID. In this paper these three types controller are test in MATLAB/SIMULINK.
关键词：proportional-integral-derivative controller; sliding mode controller; ; computed torque controller; multi degrees of freedom actuator; system uncertainty
