Journal of Engineering and Applied Sciences

117
Views

0
Downloads

Performance Investigation of a Two Link Manipulator Stability in the Presence of Torque Disturbance using Optimal Sliding Mode Controller

Mustefa Jibril, Messay Tadese and Reta Degefa
Page: 3788-3792 | Received 21 Sep 2022, Published online: 21 Sep 2022

By Research Area

Medicine & Public Health Life Sciences Engineering Mathematics Biomedicine Physics Chemistry Computer Science Earth Sciences Social Sciences Business and Management Psychology Materials Science Economics Education Environment Philosophy Statistics Law Political Science and International Relations Pharmacy Dentistry Energy Linguistics Geography Finance Criminology and Criminal Justice Medicine Cultural and Media Studies History Architecture / Design Literature Biomedical Sciences Religious Studies Education & Language Food Science & Nutrition Public Health

By Volume and Issue

Abstract

In this study, a two-link manipulator system stability performance is designed and analyzed using optimal control technique. The manipulator system is highly nonlinear and unstable. The system is modelled using Lagrangian equation and linearized in upward unstable position. The closed loop system is designed using optimal sliding mode controller. The system is compared with a known PID controller with an impulse applied and disturbance torques and a promising results has been obtained.

How to cite this article:

Mustefa Jibril, Messay Tadese and Reta Degefa. Performance Investigation of a Two Link Manipulator Stability in the Presence of Torque Disturbance using Optimal Sliding Mode Controller.
DOI: https://doi.org/10.36478/jeasci.2020.3788.3792
URL: https://www.makhillpublications.co/view-article/1816-949x/jeasci.2020.3788.3792