A Robust Tracking Control System for a 2-DOF Manipulator Based on an On-line Linearization Technique

In this paper, a robust tracking control system, Linearized Sliding Mode Controller (LSMC), for a two degrees-offreedom manipulator based on an on-line linearization technique is proposed. In this method, a linearized model of thesystem is considered to design the controller. First, equations of motion of a 2 degrees-of-freedom manipulator arecalculated. Then, a linear approximation of the system parameters is obtained using the calculus of variation and aJacobian technique, as so-called on-line linearization technique. This technique represents nonlinear control system asan adaptive linear model. Next, a sliding mode control approach using the linearized model is designed to achieve arobust tracking. Moreover, a stability proof is presented for the proposed controller. Finally, through the simulations,the performance of the proposed control is verified and compared with two methods: a conventional sliding modecontroller and a classical PID controller. The results demonstrate the performance of our proposed control approachagainst various uncertainties in the system model.

Keywords:

Manipulator , Robot , Sliding Mode Control , Robust Control , Tracking Control