Trajectory Tracking based on Sliding Mode Controller

International Journal of Electronics and Communication Engineering

© 2023 by SSRG - IJECE Journal

Volume 10 Issue 1

Year of Publication : 2023

Authors : Fakhur-un-nisa Alias Fizza Syed, Shakeel Ahmed Shaikh, Saifullah Samo , Qamar un nisaKamal

10.14445/23488549/IJECE-V10I1P101

How to Cite?

Fakhur-un-nisa Alias Fizza Syed, Shakeel Ahmed Shaikh, Saifullah Samo , Qamar un nisaKamal, "Trajectory Tracking based on Sliding Mode Controller," SSRG International Journal of Electronics and Communication Engineering, vol. 10,  no. 1, pp. 1-5, 2023. Crossref, https://doi.org/10.14445/23488549/IJECE-V10I1P101

Abstract:

This paper presents trajectory tracking based on a sliding mode controller for the Puma robot manipulator. Puma is most commonly used in industries; it has great flexibility compared to other manipulators like SCARA, which decreases its precision. In order to increase the precision Sliding mode controller based on the Lyapunov stability approach is used in this work. The first motion control block for the sliding mode Controller is designed and link it with the Puma Robot manipulator in MATLAB Simulink. The Experiment Results for the effectiveness of this method are verified.

Keywords:

Trajectory Tracking, Sliding mode, PUMA560 Robot, Trajectory generation.

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