Trajectory Control of Robotic Manipulators: A Comparison Study

In this paper, two different types of model-based trajectory control schemes are designed and compared for the control of robotic manipulators. First, two PD-based control schemes and one sliding-mode control scheme are designed, where Lyapunov stability theorem is used as a mathematical design tool. Then, the performances of the PD-based control schemes are compared to those of the sliding-mode control schemes with realistic computer simulations. The global asymptotic stability and the boundedness of all internal signals of the designed control schemes are shown with Lyapunov stability theorem.