Akademik Veri Yönetim Sistemi
Human-Robot Collaboration and Advanced Robotics in Modern Industry, IGI Global, ss.189-229, 2026
This chapter presents the design and MATLAB-based simulation of a Sliding Mode Control (SMC) system for a 5-DOF bipedal robot. The aim is to achieve stable and precise motion despite dynamic uncertainties and external disturbances. A nonlinear dynamic model was developed using Lagrangian mechanics, and an SMC strategy with boundary layer modification was designed to reduce chattering and enhance robustness. Simulation results demonstrate that the proposed controller effectively maintains balance, minimizes tracking errors, and ensures stability under uncertain and disturbed conditions, outperforming conventional control methods and establishing SMC as a powerful approach for complex bipedal robotic systems.