Design and Implementation of Sliding Mode Controller for a Two-Link Manipulator Addressing Input Coupling

This study investigates the design and implementation of a Sliding Mode Controller (SMC) for a two-link manipulator while addressing the challenge of the input’s coupling. The primary objective is to improve control performance despite the inherent coupling between the controllers governing each manipulator link. The research employs the SMC design via the input transformation method, tailored for robust control of nonlinear Multiple Input Multiple Output (MIMO) systems. Solving the decoupling problem takes place using the Lyapunov function, where the attractiveness of each sliding variable is proved separately. By employing the proposed SMC approach, the study aims to eliminate the effects of coupling and uncertainties in the system dynamics. Simulation experiments are conducted to evaluate the effectiveness of the SMC in achieving robust and stable control of the manipulator under varying levels of uncertainty and coupling strengths. The results demonstrate promising performance improvements compared to traditional control methods, highlighting the efficacy of SMC techniques in handling coupled control systems. This research contributes valuable insights into the development of robust control strategies for complex robotic manipulators operating in real-world environments.