Sliding Mode Control to Track Trajectories for Two-Linked Robot Arm

Huu-Huy Nguyen*, Van-Dong-Hai Nguyen, Trong-Nam Doan, Thanh-Truc Nguyen, Thi-Diem-Quynh Huynh, Dac-Huy Huynh, Dang-Khoa Vo, Trong-Hien Huynh

Ho Chi Minh city University of Technology and Education (HCMUTE)
01, Vo Van Ngan street, Thu Duc district, Ho Chi Minh city, Vietnam
* Corresponding author. E-mail:

Robotica & Management, Vol. 27, No. 2, pp. 18-23

Abstract: Two-linked robot arm is a popular model in both laboratory and actual industry. This is a MIMO system which has the same number of inputs and outputs. Because of the interactions between variables, normal SISO control algorithms, such as PID algorithm, do not prove their effectiveness in process of operation. In this paper, we propose using a method of sliding algorithm to control two-linked robot tracking expected trajectories. Results of controlling are proved to be successful through Matlab/Simulink.

Keywords: Two-linked robot arm, MIMO system, sliding control, SISO control, trajectories tracking control.

Full text


[1] Radharamanan R., Jenkins H. E.: “Robot Applications in Laboratory-Learning Environment”, 39th Southeastern Symposium on System Theory, pp. 80-84, 2007.

[2] Rocco P.: “Stability of PID control for industrial robot arms”, in IEEE Transactions on Robotics and Automation, vol. 12, no. 4, pp. 606-614, 1996.

[3] Mohamed R.H., Bendary F., Elserafi K.: “Trajectory Tracking Control for Robot Manipulator using Fractional Order-Fuzzy-PID Controller”, International Journal of Computer Applications (0975 – 8887), Volume 134, No.15, 2016.

[4] Okubanjo A., Martins O.: “Modelling of 2-DOF Robot Arm and Control”, Futo Journal Series (FUTOJNLS) e-ISSN: 2476-8456 p-ISSN: 2467-8325 Volume-3, Issue-2, pp- 80 – 92, 2017.

[5] Hiếu P.Đ., Tuấn Đ.M., Duy L.N., Nghĩa L.V.: “Thiết kế bộ điều khiển trượt vị trí/ lực cánh tay robot tương tác với môi trường làm việc”, Tạp chí Khoa học Công nghệ, p-ISSN: 1859-3585, e-ISSN: 2615-9619, số 55, trang 67-70, 2019.

[6] Duy L.T.: “Thiết kế bộ điều khiển trượt cho hệ tay máy robot”, Tạp chí Khoa học và Công nghệ Đại học Đà Nẵng, số 4, 2003.