Journal of Control Engineering and Applied Informatics
Trajectory Tracking Control Of A Two-Link Robot Manipulator Using Variable Structure System Theory
Abstract
The control of robots, mobile robots and manipulator arms has fascinated control
engineers for several decades. Robots are complex mechanical systems with highly nonlinear
dynamics. Hence high-performance operation requires nonlinear control designs to fully exploit a
robot's capabilities. After describing the dynamic model for robot, in this paper, we discuss
sliding mode control design alternative for the classic trajectory tracking problem, in which the
robot is asked to follow a prescribed trajectory. Finally, we will illustrated the control method on
a computer simulated example of a two-link robot manipulator.
engineers for several decades. Robots are complex mechanical systems with highly nonlinear
dynamics. Hence high-performance operation requires nonlinear control designs to fully exploit a
robot's capabilities. After describing the dynamic model for robot, in this paper, we discuss
sliding mode control design alternative for the classic trajectory tracking problem, in which the
robot is asked to follow a prescribed trajectory. Finally, we will illustrated the control method on
a computer simulated example of a two-link robot manipulator.