International Journal of Robotics and Control Systems
Vol 5, No 2 (2025)

Four DOF Robot Manipulator Control Using Feedback Linearization Based on Sliding Mode Control

Alqaisi, Walid Kh. (Unknown)
Soliman, Mostafa (Unknown)
Badawi, Ahmed (Unknown)
Elzein, I. M. (Unknown)
El-Bayeh, Claude Ziad (Unknown)

Article Info

Publish Date
15 Feb 2025

Abstract

This paper investigates the performance of a four-degree-of-freedom (4DOF) robot arm using feedback linearization based on sliding mode control (FLSM). FLSM simplifies complex nonlinear control solutions and mitigates the effects of the highly coupled dynamic behavior of the 4DOF manipulator. The controller takes into account uncertain dynamics and unexpected disturbances such as changes in payload, variations in wind, and gravity effects in different directions. The stability of the proposed controller is achieved using the manipulator model and FLSM without linearizing the model. Stability is analyzed using a Lyapunov function, and MATLAB Simulink is utilized to simulate the real parameters of the Quanser QArm. The results are compared with those obtained using a PID controller.

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Journal Info
International Journal of Robotics and Control Systems
Website

Abbrev

IJRCS

Publisher

Association for Scientific Computing Electronics and Engineering

Subject

Control & Systems Engineering Electrical & Electronics Engineering

Description

International Journal of Robotics and Control Systems is open access and peer-reviewed international journal that invited academicians (students and lecturers), researchers, scientists, and engineers to exchange and disseminate their work, development, and contribution in the area of robotics and ...