Shahrood University of Technology Journal of Solid and Fluid Mechanics 2251-9475 9 4 2019 12 22 Design and Tuning of Robust Proportional-Derivative Sliding-Mode Control (PD-SMC) in Stabilization of 2-DOF Robot Manipulator Design and Tuning of Robust Proportional-Derivative Sliding-Mode Control (PD-SMC) in Stabilization of 2-DOF Robot Manipulator 137 150 1711 10.22044/jsfm.2020.7916.2798 FA V. Ghaffari Assistant Prof. of Electrical Engineering Persian Gulf University, Gh.R. Jamali M. Sc. of Electrical Engineering Persian Gulf University V. Meigoli Assistant Prof. of Electrical Engineering Persian Gulf University M. Mirzaei Hydro-Aeronautical Research Center, Shiraz University, Shiraz, Iran Journal Article 2018 12 29 A proportional-derivative sliding-mode control (PD-SMC) scheme is addressed for tracking problem of a two-degree of freedom robot manipulator. The sliding-mode control (SMC) may be a robust method in presence of parameters change and system uncertainties. In a typical control problem, the proportional-derivative (PD) control law provides a fast response while the stability of the closed loop system is increased. Hence a two degree of freedom robot manuplator is considered. Then the asymptotic stability of closed loop system with the PD-SMC policy would be shown by using of the well-known Lyapunov stability theory. As a result of this paper, the asymptotic stability criteria would be checked in term of some simple matrix inequalities. Having satisfaction of such matrix inequalities in the tracking problem of the robot manipulator, the tracking error and its derivative would be converged to zero. In order to compare the results with the other control approaches, the controller parameters are firstly tuned in an optimization way via the genetic algorithm (GA) method. Then some numerical examples are provided to show the effectiveness and robustness of the PD-SMC in comparing with the existing methods. A proportional-derivative sliding-mode control (PD-SMC) scheme is addressed for tracking problem of a two-degree of freedom robot manipulator. The sliding-mode control (SMC) may be a robust method in presence of parameters change and system uncertainties. In a typical control problem, the proportional-derivative (PD) control law provides a fast response while the stability of the closed loop system is increased. Hence a two degree of freedom robot manuplator is considered. Then the asymptotic stability of closed loop system with the PD-SMC policy would be shown by using of the well-known Lyapunov stability theory. As a result of this paper, the asymptotic stability criteria would be checked in term of some simple matrix inequalities. Having satisfaction of such matrix inequalities in the tracking problem of the robot manipulator, the tracking error and its derivative would be converged to zero. In order to compare the results with the other control approaches, the controller parameters are firstly tuned in an optimization way via the genetic algorithm (GA) method. Then some numerical examples are provided to show the effectiveness and robustness of the PD-SMC in comparing with the existing methods. https://jsfm.shahroodut.ac.ir/article_1711_75805a9da6c6bc246c2a8ddd857e4d53.pdf