Version 1
: Received: 9 October 2020 / Approved: 12 October 2020 / Online: 12 October 2020 (10:04:18 CEST)
How to cite:
Jibril, M.; Tadese, M.; Degefa, R. Performance Investigation of a Two Link Manipulator Stability in the Presence of Torque Disturbance Using Optimal Sliding Mode Controller. Preprints2020, 2020100219. https://doi.org/10.20944/preprints202010.0219.v1
Jibril, M.; Tadese, M.; Degefa, R. Performance Investigation of a Two Link Manipulator Stability in the Presence of Torque Disturbance Using Optimal Sliding Mode Controller. Preprints 2020, 2020100219. https://doi.org/10.20944/preprints202010.0219.v1
Jibril, M.; Tadese, M.; Degefa, R. Performance Investigation of a Two Link Manipulator Stability in the Presence of Torque Disturbance Using Optimal Sliding Mode Controller. Preprints2020, 2020100219. https://doi.org/10.20944/preprints202010.0219.v1
APA Style
Jibril, M., Tadese, M., & Degefa, R. (2020). Performance Investigation of a Two Link Manipulator Stability in the Presence of Torque Disturbance Using Optimal Sliding Mode Controller. Preprints. https://doi.org/10.20944/preprints202010.0219.v1
Chicago/Turabian Style
Jibril, M., Messay Tadese and Reta Degefa. 2020 "Performance Investigation of a Two Link Manipulator Stability in the Presence of Torque Disturbance Using Optimal Sliding Mode Controller" Preprints. https://doi.org/10.20944/preprints202010.0219.v1
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.
Keywords
manipulator; sliding mode controller; proportional integral derivative (PID) controller
Subject
Engineering, Automotive Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
