  Robot arms have been using in different systems, which the control of
designed in desired trajectory is the main task. Also, it is anticipated that
while in operation the developed 2DoF robot arm will be constantly encountered
with noises such as friction forces. A new integral sliding mode control
(NISMC) is therefore being introduced to suppress noise due to its robustness.
Then, New hybrid control system (NHISMC) is proposed, which constantly
calculates an error value and applies a correction value to the system. This
will enhance trajectory and minimize tracking error. In comparison with two
other controllers, such as traditional sliding mode control (SMC) and NISMC,
experimental results confirmed the efficacy of the proposed control method.
