Track: Automation and Control
Abstract
Robotic systems are playing a very essential role in the field of small as well as large industrial applications. In this paper, the design of first and second order sliding mode controllers are proposed to perform the desired tasks. To illustrate this technique a single link flexible robotic arm is used. The sliding mode controller (SMC) is one of the most powerful algorithm for designing controllers with the drawback of chattering which degrades its performance. So to avoid it and to track our desired trajectory twisted algorithms is used. Lyapunov stability criteria was applied for the verification of controllers’ stability. Finally all the two algorithms were compared using simulations.