TY  - JOUR
T1  - Performance Investigation of a Two Link Manipulator Stability in the Presence of Torque
Disturbance using Optimal Sliding Mode Controller
AU - Jibril, Mustefa AU - Tadese, Messay AU - Degefa, Reta 
JO  - Journal of Engineering and Applied Sciences
VL  - 15
IS  - 24
SP  - 3788
EP  - 3792
PY  - 2020
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2020.3788.3792
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2020.3788.3792
KW  - Manipulator
KW  -sliding mode controller
KW  -Proportional Integral Derivative (PID) controller
AB  - In this study, a two-link manipulator system
stability performance is designed and analyzed using
optimal control technique. The manipulator system is
highly nonlinear and unstable. The system is modelled
using Lagrangian equation and linearized in upward
unstable position. The closed loop system is designed
using optimal sliding mode controller. The system is
compared with a known PID controller with an impulse
applied and disturbance torques and a promising results
has been obtained.
ER  -