ELEC848 - Control Systems Design for Robots and Telerobots - Engineering Assignment Help

Assignment Task :

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 4x1 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.

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