Sliding Mode Control for Single-Joint Robot

This article presents an excellent MATLAB source code implementation for single-joint robot sliding mode control, accompanied by a complete Simulink main program. The provided code demonstrates key aspects of variable structure control implementation, including sliding surface design, control law formulation, and chattering reduction techniques. These resources are particularly useful for students researching variable structure control, as they not only facilitate better understanding of theoretical concepts in this field but also provide practical programming examples for reference. The implementation covers essential components such as robot dynamics modeling, uncertainty compensation, and stability analysis through Lyapunov methods. The code structure includes modular functions for system parameter configuration, controller gain tuning, and real-time performance monitoring. Students can study the implementation of reaching phase dynamics, sliding surface convergence, and robustness against system uncertainties, helping them master both theoretical concepts and practical implementation skills in modern control systems.