Project for Automatic Control Systems III Course / Aristotle University of Thessaloniki / Winter Semester 2020

• Running a simulation of a closed loop system (ode45) i) with and ii) without a discontinuous nonlinearity using a) step function b) ramp function as input
• Conclude about system stability

Trajectory Planning of 2-link Robot Manipulator using:

• A) Feedback Linearization
• B) Sliding Mode Control

As of the completion of the project, it will probably NOT be maintained. Future projects regarding robot links and sliding mode control could be implemented using parts of this code though. It may hold inaccuracies and could be implemented in more efficient ways regarding speed and recources management.

MATLAB R2018a version. Using a different version, you may need to customize some commands.

Reach out to me:

• [email protected]