Simulation Based Performance Comparison of Cascade PID and RISE Controllers for the 6-DOF Heavy Payload Industrial Robot

Abstract

This paper presents a performance comparison of the robust integral of sign of error (RISE) controller with the cascade PID controller for the control of a 6-DOF heavy payload industrial robot. The 6-DOF heavy payload industrial robot is a highly nonlinear system. In this research, the dynamic simulation software ADAMS (R) is used to model the robot. The control systems are designed as joint space controllers and simulated using an ADAMS (R) and MATLAB/Simulink co-simulation platform. The simulation results are used to tune the controllers and to compare their performance under the best tuning conditions. The results show that when compared with the PID controller, the RISE controller with non-linear robust term provides robust control performance with asymptotic trajectory tracking and less overshoot in nonlinear systems. These results pave the way for implementation of the RISE controller in the real robotic system and verification of its performance.