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Motion Control of Robotic Arm Manipulator Using PID and Sliding Mode Technique

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dc.contributor.author Abbas, Zaheer
dc.date.accessioned 2019-11-07T11:23:50Z
dc.date.available 2019-11-07T11:23:50Z
dc.date.issued 2018-01-01
dc.identifier.uri http://142.54.178.187:9060/xmlui/handle/123456789/1012
dc.description.abstract In the last decades, many researches have proposed concerning the motion control and position regulation for manipulators. Motion control has important applications in many areas, for example industrial robotics, autonomous systems, and virtual prototyping, etc. In this work, an exhaustive research of the existing literature related to the thesis has been carried out, which has served to create a comprehensive database used to perform a detailed historical review of developments since its starts to the current state of the art and the latest trends. In this thesis two control methodologies for the position control of robotic arm manipulator are used, i.e. PID and Sliding Mode control. Both techniques have good performance but, the Sliding mode control being insensitive to parametric variations, disturbance rejection and good performance against uncertainties has much better results than PID control. The simulation results are also presented which shows SMC has better performance as compared to PID control technique. en_US
dc.language.iso en_US en_US
dc.publisher Department of Electrical Engineering, Capital University of Science and Technology, Islamabad en_US
dc.subject Engineering and Technology en_US
dc.subject Motion Control of Robotic Arm en_US
dc.subject Manipulator Using PID en_US
dc.subject Sliding Mode Technique en_US
dc.title Motion Control of Robotic Arm Manipulator Using PID and Sliding Mode Technique en_US
dc.type Thesis en_US


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