Design, Simulation, and Comparison of Advanced Control Strategies for a 3-Degree-of-Freedom Robot

Abstract

This study presents the design, simulation, and comparative analysis of three advanced control strategies applied to a 3-Degree-of-Freedom (DoF) robot manipulator. The controllers investigated are a variant from the Computed Torque Control family, a Proportional–Derivative–Integral with fuzzy logic (PD-PI + fuzzy) controller, and a Model Predictive Control (MPC) scheme. The controller performance is evaluated through the tracking of predefined trajectories in the three-dimensional space. The results are analyzed through XYZ coordinate motion graphs and 3D trajectories. To quantify performance, three error indicators are employed: Residual Mean Square (RMS) with a value of 0.0720 for the Computed Torque Controller, Residual Standard Deviation (RSD), and Index of Agreement (IA). The results demonstrate that the proposed controllers achieve accurate trajectory tracking, with IA values close to unity, demonstrating a high degree of concordance between the desired and executed trajectories.

Keywords

• advanced robot control
• computed torque control
• PD-PI fuzzy control
• model predictive control (MPC)
• nonlinear systems
• 3-DoF robot manipulator