Comparative Analysis of Sliding Mode Controllers for Trajectory Tracking and Vibration Reduction in a Two-Link Flexible Manipulator with Different Sliding Surfaces

Abstract

The sliding mode controller has been designed for joint position tracking and link vibration reduction of the two-link flexible manipulator. In this work, to track the desired trajectory, sliding mode controller has been developed with two different types of sliding surfaces, to show the effect of sliding surfaces on the system’s performance. Sliding surface plays an important role in the stability and control of the system. The sliding surface also acts as a dynamic equilibrium surface where the system states converge to track the desired behavior with minimum error. In this work, the PID sliding surface and PD sliding surface have been considered. A comparative analysis has been presented. The proportional, integral, and derivative gains for each sliding surface have been tuned using optimization techniques. Arithmetic optimization algorithm and FOX optimization algorithm have been used here. In this work, mass of the payload has been considered an uncertain parameter. To demonstrate the efficiency of the suggested controllers, the value of the uncertain parameter has been altered.