Integral Sliding Mode Control for Position Control of Robotic Manipulator

Abstract

The model of robotic manipulator is multi-input multioutput (MIMO), coupled and nonlinear. The design of efficient control method is more interesting. In this paper, a nonlinear integral sliding mode control approach has been attempted to obtain the position control of a robotic manipulator. This proposed control is simple, robust and effectively enhance the performance of robotic manipulator. Through simulation, the robustness of proposed control method has been demonstrated considering the external disturbances, payload variations and other inherent factors. The performance of proposed nonlinear control method is compared with proportional-integral-derivative (PID) control from the literature. The comparative performance results demonstrate the superiority and effectiveness of the proposed control strategy for a robotic manipulator.