SVM-SMC based control technique for precise trajectory tracking of a five bar linkage manipulator

Accurate trajectory tracking of a robotic manipulator has always been the main functioning unit in modern industrial environment. For this, to overcome the problems faced by the conventional classical control schemes like PID, SMC etc. [1], this paper mainly proposes three controllers. To overcome the chattering problem in SMC, signum function is replaced with the saturation function. Further for improvement, intelligent techniques like neural network and support vector machines based controllers have been proposed to generate the precise control of robotic manipulator for trajectory tracking. A five bar linkage manipulator has been chosen for simulation purpose. Results have shown that SVM has the best tracking accuracy amongst all the controllers of the paper.