Comparison of conventional PID controller with sliding mode controller for a 2-link robotic manipulator

Abstract

Considering the increase in application of robotic manipulators in various dimensions, trajectory tracking has become one of the important aspects for controllers. This paper depicts a comparison between the conventional PID controller and sliding mode controller (SMC) for a double link robotic manipulator. The paper adheres to the problem of modelling and controller design keeping the non-linearity associated with robotic manipulator in mind. The aim of this paper is to examine which controller is more robust for trajectory tracking. Simulation is carried out in MATLAB and the system output is plotted against the reference input to record the tracking performance.