Sliding Mode Methodology Vs. Computed Torque Methodology Using MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control Courses

Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one ofthe most important challenging works. This paper focuses on the design, implementation andanalysis of a chattering free sliding mode controller for highly nonlinear dynamic PUMA robotmanipulator and compare to computed torque controller, in presence of uncertainties. In order toprovide high performance nonlinear methodology, sliding mode controller and computed torquecontroller are selected. Pure sliding mode controller and computed torque controller can be usedto control of partly known nonlinear dynamic parameters of robot manipulator. Conversely, puresliding mode controller is used in many applications; it has an important drawback namely;chattering phenomenon which it can causes some problems such as saturation and heat themechanical parts of robot manipulators or drivers. In order to reduce the chattering this researchis used the linear saturation function boundary layer method instead of switching function methodin pure sliding mode controller. These simulation models are developed as a part of a softwarelaboratory to support and enhance graduate/undergraduate robotics courses, nonlinear controlcourses and MATLAB/SIMULINK courses at research and development company (SSP Co.)research center, Shiraz, Iran.