Sliding mode control (SMC) for 2DOF Robot Manipulators

This project contains design a sliding mode control law for position regulation in 2dof Robot

Nguyen Khanh Tran – University of Science and Technology, University of Da Nang

April 21st 2025

Sliding mode controller on 2DOF-Manipulators Simulink MATLAB

Reference: Adaptive sliding mode control design for the 2-DOF robot arm manipulators - Ahmed Eltayeb1, M. F. Rahmat2, M. A Mohammed Eltoum3, Ibrahim M. H. Sanhoury4 and M.A.M.Basri5

Simulation results: output response of sliding mode controller is robust against disturbance

Reference 1: Adaptive sliding mode control design for the 2-DOF robot arm manipulators | IEEE Conference Publication | IEEE Xplore

Reference 2: RIC LAB