A Comparative Performance Analysis of PID Control and Sliding Mode Control of Two Link Robot Manipulator

Abstract

The paper deals with study of SMC for a robot manipulator. The property of the robot manipulator has low sensitivity to distortions and more efficient than other controllers. The tracking control difficulty for two-link robot manipulator which obeys the Lyapunov stability theorem, the back stepping control (BC) and (SMC) is denoted. The comparison of PID controller and SMC controller has been done by the application of Two-link robot manipulator by using MATLAB technique by constructing simulink models. The stability has been elaborated by comparing the performance of the PID and SMC and investigating the most efficient controller.