ELEC-848: Control Systems Design for Robots and Telerobots
Assignment # 3
Single link manipulator control: Consider a single link manipulator as shown below and discussed in the class with dynamics
Design and simulate the following position controllers with Simulink;
• Inverse dynamics controller
• Robust inverse dynamics controller with hard switch
• Robust inverse dynamics controller with soft switch (boundary layer, default =0.001)
• Sliding mode controller with hard switch
• Sliding mode controller with soft switch (boundary layer, default =0.2)
• Slotine and Li adaptive controller
To simulate the actual manipulator dynamics use I = 10 and Mgl = 10 and consider 5 as the estimate for both parameters in designing the above controllers. Use the controllers and parameter values suggested in the book. Make any assumptions as needed. Use 1-e-5t –5te-5t as the desired position input.
Compare and discuss the performance of the above controllers using the following set of plots:
1. For each controller in a 4×1 subplot, plot position and desired position; position error; control command. Also plot a 3D Lyapunov function in terms of e, and edot, if available.
2. For the Slotine and Li method draw the estimated parameters as a function of time. Discuss the role of the adaptation gain
3. For the sliding mode controllers, plot the phase plane (velocity versus position-desired position). Discuss the effect of on tracking.
4. Show and discuss the effect of on tracking for controllers with soft switch.
Due Date: 11:59 pm Friday April 10, 2020.
Delivery: Via email
NOTE: Please also hand in your commented soft .m and .mdl codes via email
where parameters I and MgL are not known in advance. It is only known that
What Students Are Saying About Us
.......... Customer ID: 12*** | Rating: ⭐⭐⭐⭐⭐"Honestly, I was afraid to send my paper to you, but splendidwritings.com proved they are a trustworthy service. My essay was done in less than a day, and I received a brilliant piece. I didn’t even believe it was my essay at first 🙂 Great job, thank you!"
.......... Customer ID: 14***| Rating: ⭐⭐⭐⭐⭐
"The company has some nice prices and good content. I ordered a term paper here and got a very good one. I'll keep ordering from this website."
