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

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

Title: ScienceOpen Preprints

Publisher: ScienceOpen

Publication date (Electronic preprint): 9 October 2020

Affiliations

[1 ] School of Electrical and Computer Engineering

Author information

Mustefa Jibril https://orcid.org/0000-0002-3165-2410

Article

DOI: 10.14293/S2199-1006.1.SOR-.PPHTPBT.v1

SO-VID: f9ae1fc9-e861-445c-8020-4bd6ed3c1ec7

License:

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 .

History

Date received : 9 October 2020

Data availability: All data generated or analysed during this study are included in this published article (and its supplementary information files).

ScienceOpen disciplines: Engineering

Keywords: Manipulator, Sliding mode controller, Proportional integral derivative (PID) controller