Comparison of Two Techniques for Controlling the Parallel Robot Par4: CTC and SMC

Abstract

The objective of this paper is to compare the performance between two conventional controllers of the Par4 parallel robot: the computed torque control (CTC) and the sliding mode control (SMC). CTC is considered as the classic controller which is used to control robots. However, it is not robust for very accurate and uncertain systems. Unlike CTC, the SMC is a robust, precise and stable. It is the most popular controller and it is used to control non-linear, precise and very quick systems like robots or motors. The performance of these two controllers was verified using simulation results using MATLAB / SIMULINK. The simulation results show the superior performance of SMC compared to the CTC for position control in the presence of parameters.