Design of Sliding Mode Controller for Two-Link Robot Manipulator

A design of the sliding surfaces for the position tracking control problem for two-link robot manipulator based on the Lyapunov stability theorem, the back stepping control (BC) and the sliding mode control (SMC) is addressed. By applying the adaptive technique in the design of the sliding surface, the property of asymptotical stability can be achieved and the perturbations can be suppressed when the system is in the sliding mode. The robust tracking performance will be demonstrated in the simulation.