Sliding Mode Control to Track Trajectories for Two-Linked Robot Arm

Abstract

Two-linked robot arm is a popular model in both laboratory and actual industry. This is a MIMO system which has the same number of inputs and outputs. Because of the interactions between variables, normal SISO control algorithms, such as PID algorithm, do not prove their effectiveness in process of operation. In this paper, we propose using a method of sliding algorithm to control two-linked robot tracking expected trajectories. Results of controlling are proved to be successful through Matlab/Simulink.

Keywords

• two-linked robot arm
• mimo system
• sliding control
• siso control
• trajectories tracking control