Comparative Analysis of Sliding Mode Control and Terminal Sliding Mode Control with Output Delay in a Two-Link Robot System

In this paper, we present a comparative study between Sliding Mode Control (SMC) and Terminal Sliding Mode Control (TSMC) applied to a two-link robot system with an output time delay. The proposed approaches aim to design robust controllers that effectively handle system uncertainties and reduce chattering issues. we demonstrate that the upper bound of uncertainties can be significantly reduced, contributing to enhanced system performance. Simulation results highlight the differences in behavior and effectiveness of the two methods, showcasing the advantages of the fast terminal sliding mode in approximating the dynamics of the MIMO system.