A Comparison Between Sliding Mode Control and Feedback Linearization

Abstract

In this paper we take a 2- link robotic Manipulator system, which is nonlinear in nature. First we convert the nonlinear system into linear system. To control the system torque is derived with linear approximation. SMC and Feedback Linearization is applied to track the desired trajectory. The desired trajectories is taken with different frequencies and the controlling of two scheme with different trajectories is evaluated with the help of Simulink. A comparison between SMC and Feedback linearization is detailed with regard different frequencies of desired trajectory.