Sliding Mode Control Design for a Robotic Manipulator

 Sliding mode control is a robust control technique that ensures precise tracking of desired trajectories, even in the presence of model uncertainties and disturbances. This demonstration includes a quick overview of sliding mode control. It also shows how you can design and tune a sliding mode controller in Simulink® to make a robotic manipulator follow reference trajectories in the presence of model uncertainties and external disturbances.

Check out the example demonstrated in the video: https://bit.ly/4dFWPam

Additional Resources:

Learn what sliding mode control is and how it works:    • What Is Sliding Mode Control?  

Simulink Control Design: https://bit.ly/3ZXWcTT

Chapters:

00:00 Introduction to sliding mode control

00:43 Overview of how sliding mode control works

3:13 Example: Controlling a robotic manipulator 

4:54 Completing control system with the Sliding Mode Control block

5:13 Sliding mode control design

7:48 Simulation with the designed controller without model uncertainties and disturbances

12:32 Simulation with model uncertainties

13:24 Simulation with model uncertainties and disturbances

13:50 Code generation for deployment

14:09 Summary