DOI: 10.31127/tuje.1553190 ISSN: 2587-1366

Component-wise Sliding Mode Control of a Two-Link Manipulator

Mohammed Qasim, Abdulla Abdulla, Abdurahman Ayoub
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The component-wise control technique in Sliding Mode Control (SMC) offers notable advantages, such as enhanced accuracy and a faster-reaching phase compared to more complex MIMO SMC methods. However, these benefits are accompanied by significant challenges, particularly in determining appropriate control gains for each channel. This process involves solving a set of inequalities, which may not always yield a feasible solution. This letter introduces a novel approach to component-wise SMC design for a two-link manipulator and provides a comprehensive analysis of the uncertainty conditions that lead to feasible control gain solutions, thereby streamlining the design process. Simulation results demonstrate the superior performance of the proposed controller, even under uncertainties in the system dynamics.

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