Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

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

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. Preprints 2020, 2020100219 (doi: 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 (doi: 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.

Subject Areas

manipulator; sliding mode controller; proportional integral derivative (PID) controller

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