Integral Sliding Mode Control for Position Control of Robotic Manipulator

Nadda, Sudhir

doi:10.1109/spin.2018.8474267

Cited by 6 publications

(2 citation statements)

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“…where sgn(s i ) = s i /|s i |. To facilitate the operations, a virtual reference vector qr is defined as (12):…”

Section: A Model-free Integral Smc Designmentioning

confidence: 99%

“…To eliminate the effects of these uncertainties, robust, adaptive and machine learning techniques have been used in the model-based control designs [8]- [10]. Specifically, many forms of SMC approaches have been designed for robot manipulators including traditional SMC [11], integral SMC [12], fuzzy SMC [13], backstepping SMC [7], [14], terminal SMC [15], [16], second-order SMCs [17], nonsingular terminal SMC [18], fast terminal SMC [19], time-delay estimation based SMC [20] and adaptive SMC [21], [22], but these approaches require an accurate robot model to assure a good control response.…”

Section: Introductionmentioning

confidence: 99%

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A model-free continuous integral sliding mode controller for robust control of robotic manipulators

Ablay

2023

IJRA

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<p>This paper proposes a model-free continuous integral sliding mode controller for robust control of robotic manipulators. The highly nonlinear dynamics of robots and load disturbances cause control challenges. To achieve tracking control under load disturbances and nonlinear parameter variations, the controller is constructed with three continuous terms including an integral term that acts as an adaptive controller. The proposed controller is able to accomplish a non-overshoot transient response, a short settling time, and strong disturbance rejection performance for robotic manipulators. The developed model-free control method is implemented on the PUMA 560 robotic manipulator, and its performance is compared with the proportional-derivative (PD) plus gravity controller. Numerical results under measurement noise and load disturbances are provided in order to show the efficacy, validity, and feasibility of the method.</p>

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“…where sgn(s i ) = s i /|s i |. To facilitate the operations, a virtual reference vector qr is defined as (12):…”

Section: A Model-free Integral Smc Designmentioning

confidence: 99%