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.