A Comparison of Computed Torque Control and Sliding Mode Control for a Three Link Robot Manipulator

In this work, the trajectory tracking control using Computed Torque Control (CTC) and Sliding Mode Control (SMC) strategies for a nonlinear three-link robot manipulator have been presented. Both the control strategies are implemented and the performance analysis has been carried out through simulations in MATLAB/SIMULINK. A comparative performance analysis of CTC and SMC has been presented.

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