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      Performance Investigation of a Two Link Manipulator Stability in the Presence of Torque Disturbance using Optimal Sliding Mode Controller

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            Abstract

            In this paper, a two-link manipulator system stability performance is designed and analyzed using Optimal control technique. The manipulator system is highly nonlinear and unstable. The system is modelled using Lagrangian equation and linearized in upward unstable position. The closed loop system is designed using optimal sliding mode controller. The system is compared with a known PID controller with an impulse applied and disturbance torques and a promising results has been obtained.

            Content

            Author and article information

            Journal
            ScienceOpen Preprints
            ScienceOpen
            9 October 2020
            Affiliations
            [1 ] School of Electrical and Computer Engineering
            Article
            10.14293/S2199-1006.1.SOR-.PPHTPBT.v1
            f9ae1fc9-e861-445c-8020-4bd6ed3c1ec7

            This work has been published open access under Creative Commons Attribution License CC BY 4.0 , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Conditions, terms of use and publishing policy can be found at www.scienceopen.com .


            All data generated or analysed during this study are included in this published article (and its supplementary information files).
            Engineering
            Manipulator, Sliding mode controller, Proportional integral derivative (PID) controller

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