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- Title
SLIDING MODE CONTROL TO TRACK TRAJECTORIES FOR TWO-LINKED ROBOT ARM.
- Authors
Huu-Huy Nguyen; Van-Dong-Hai Nguyen; Trong-Nam Doan; Thanh-Truc Nguyen; Thi-Diem-Quynh Huynh; Dac-Huy Huynh; Dang-Khoa Vo; Trong-Hien Huynh
- Abstract
Two-linked robot arm is a popular model in both laboratory and actual industry. This is a MIMO system which has the same number of inputs and outputs. Because of the interactions between variables, normal SISO control algorithms, such as PID algorithm, do not prove their effectiveness in process of operation. In this paper, we propose using a method of sliding algorithm to control two-linked robot tracking expected trajectories. Results of controlling are proved to be successful through Matlab/Simulink.
- Subjects
SLIDING mode control; MIMO systems; ROBOTS; ROBOT control systems
- Publication
Robotica & Management, 2022, Vol 27, Issue 2, p18
- ISSN
1453-2069
- Publication type
Article
- DOI
10.24193/rm.2022.2.3