Paper Title
Trajectory Tracking Sliding Mode Controller of Two-Joint Robotic Manipulator

Abstract
This paper describes Sliding Mode Controller (SMC) and adaptive controller of two-joint robot manipulator. Sliding mode technique is used to design two controllers to track the desired trajectory based on input output stability and adaptation of unknown parameters. The sliding mode controller is robust, overcomes the possible disturbances and parameter variations. Adaptive controller with the obscure controller and payload parameters that are being assessed on the web. The adaptive requires A little information only, about the unknown parameters is required in Adaptive Controller. By utilizing the technique for Lyapunov, soundness of the closed-loop framework can be checked in finite time. Simulation results are demonstrated. Keywords- Sliding mode controller, Adaptive controller robotics, Lyapunov, input-output stability