SMC tracking control of 2-link robotic manipulator subjected to external disturbances

Abstract

A robust sliding mode control (SMC) algorithm is designed which is used to control a 2-link robotic arm. The controller is tested for various types of disturbances and model parametric uncertainties. The novelty of the work lies in the fact that the designed controller is capable of handling slow varying disturbances, fast varying as well as unpredictable disturbances. Simulation results validate the accurate tracking capability and robust performance.