Comparative study of PD controller (Vs.) integral sliding mode control on 5-link 2 DOF planar

Comparative study of PD and Integral Sliding mode control (ISMC) is designed for a flexible 5-link planar robot manipulator. This comparative study enables us to observe the performance characteristics of the two controllers. The controller for the flexible body motion is designed to enforce the state trajectory onto a desired sliding surface and then guides it into the state space origin. The integral sliding mode control is used to reject the disturbance in the system and later helps the system to remain in a continuous control with the implementation of Super-twisting algorithm thereafter. These control techniques suppresses the uncertainties due to parametric variations and external disturbances. The efficacy and robustness of the proposed integral and super-twisting controllers are confirmed via computer simulations.