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Adaptive terminal sliding mode control for rigid robotic manipulators

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Abstract

In order to apply the terminal sliding mode control to robot manipulators, prior knowledge of the exact upper bound of parameter uncertainties, and external disturbances is necessary. However, this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the robot. To resolve this problem in robot control, we propose a new robust adaptive terminal sliding mode control for tracking problems in robotic manipulators. By applying this adaptive controller, prior knowledge is not required because the controller is able to estimate the upper bound of uncertainties and disturbances. Also, the proposed controller can eliminate the chattering effect without losing the robustness property. The stability of the control algorithm can be easily verified by using Lyapunov theory. The proposed controller is tested in simulation on a two-degree-of-freedom robot to prove its effectiveness.

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Correspondence to Mezghani Ben Romdhane Neila.

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Mezghani Ben Romdhane Neila graduated from National Engineering School of Sfax (ENIS), Tunisia in 2002. She received the master degree in automatic and industrial data processing from ENIS in 2005. She has joined the ENIS as an associate assistant of electric engineering since 2005.

Her research interests include sliding mode control, adaptive nonlinear control, and control of robotic manipulator.

Damak Tarak graduated from National Engineering School of Sfax (ENIS), Tunisia in 1989. He received the ‘Diplome d’Etudes Approfondues’ in automatic control from the Institut National des Sciences Appliquées de Toulouse, France in 1990 and the ‘Doctorat d’Université degree from the Université Paul Sabatier de Toulouse, France in 1994. In 2006, he obtained the University Habilitation from the ENIS.

His research interests include disturbed parameter systems, sliding mode control and observers, and adaptive nonlinear control.

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Neila, M.B.R., Tarak, D. Adaptive terminal sliding mode control for rigid robotic manipulators. Int. J. Autom. Comput. 8, 215–220 (2011). https://doi.org/10.1007/s11633-011-0576-2

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  • DOI: https://doi.org/10.1007/s11633-011-0576-2

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