Real-Time Implementation of Sliding Mode Control Technique for Two-DOF Industrial Robotic Arm

Abstract

This study presents a real-time implementation of the angle trajectory tracking control for the twoDOF industrial robotic manipulators. For real-time trajectory tracking control, the classical proportional–integral–derivative (PID) control and the nonlinear Sliding Mode Control techniques have been considered. The SMCtechnique takes into account the complete dynamic model of the two DOF robot to increase the trajectory trackingperformance of the manipulator. The experimental results demonstrate that the nonlinear SMC method has improvedthe trajectory tracking performance compared with the PID method.