Comparative study of H-infinity and sliding mode control for a manipulator with oscillatory-base

Oscillatory base manipulator can be concerned as an example of many mechanical models mounted on vessels or oceanic structures. The problem with the system is how to control the attitude of two links and position of end effector in the presence of external disturbance. To tackle these problems two robust controllers have been used i.e.; H-infinity and sliding mode controller. In order to evaluate the performance of these controllers, simulations are conducted for both attitude control and position control. In addition, the two controllers are compared to find the best out of it. The obtained results demonstrate that the sliding mode controller is more effective and is superior to the H-infinity controller.