Design of first- and second-order sliding mode control for 2-link robotic manipulator

Nowadays, robotic manipulators have a lot of use in the industry and stability in tracking paths is one of the important aspects of controlling them. In this paper, the first and second order sliding mode controllers for the 2-link robotic manipulator system are presented. Sliding mode control (SMC) is considered as an effective tool in this control system. However, the relevant chattering phenomenon reduces the speed and accuracy of the system. To overcome this phenomenon and to track a desirable path, a super-twisting algorithm for the second-order sliding mode control is presented. Stability analysis is performed using a lyapunov function for the proposed controllers. In addition, the two provided controls are compared and simulation results using MATLAB software show their effects.

Keywords:

sliding mode control , super-twisting algorithm , 2-Link robotic manipulator