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Adaptive Higher Order Sliding Mode Control for Robotic Manipulators with Matched and Mismatched Uncertainties

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The International Conference on Advanced Machine Learning Technologies and Applications (AMLTA2019) (AMLTA 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 921))

Abstract

Robotic manipulators have been extensively used in industrial and other kinds of applications. Thus, it is important to design effective control strategies for tracking precision for robotic manipulators. In this work, an adaptive higher order sliding mode control for a robotic manipulator with matched and mismatched uncertainties is proposed. Matched uncertainties occur when they are found in the input of the system and mismatched uncertainties are found in the system parameters. Hence, an adaptive higher order sliding mode controller is designed when both matched and mismatched uncertainties are found. Considering that uncertainties yield unwanted effects in the controller design, sliding mode control provides a suitable control strategy for robotic manipulators when extreme tracking precision of the end effector is needed especially in a reduced task space. The design procedure starts with the dynamic model represented in the Euler-Lagrange form considering the uncertainties of the system and then by implementing a Lyapunov stability method and selecting an appropriate sliding surface suitable control. Finally, adaptive laws are obtained taking into account the matched and mismatched uncertainties in the system model. As a numerical example, the proposed control strategy is validated for trajectory tracking purposes of a five bar linkage mechanism.

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Author information

Authors and Affiliations

  1. Faculty of Computers and Information, Benha University, Benha, Egypt

    Ahmad Taher Azar

  2. Universidad Tecnologica Centroamericana (UNITEC), Zona Jacaleapa, Tegucigalpa, Honduras

    Fernando E. Serrano

  3. Research and Development Centre, Vel Tech University, Avadi, Chennai, 600 062, Tamil Nadu, India

    Sundarapandian Vaidyanathan

  4. Electrical Engineering Department, University of Tabuk, Tabuk, Saudi Arabia

    Hani Albalawi

Authors
  1. Ahmad Taher Azar
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  2. Fernando E. Serrano
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  3. Sundarapandian Vaidyanathan
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  4. Hani Albalawi
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Corresponding author

Correspondence to Ahmad Taher Azar .

Editor information

Editors and Affiliations

  1. Faculty of Computers and Information, Cairo University, Giza, Egypt

    Aboul Ella Hassanien

  2. Faculty of Computers and Information, Benha University, Benha, Egypt

    Ahmad Taher Azar

  3. School of Computing, Science and Engineering, University of Salford, Salford, Greater Manchester, UK

    Tarek Gaber

  4. Department of Computer Science and Engineering, School of Computing and IT, Faculty of Engineering, Manipal University Jaipur, Jaipur, Rajasthan, India

    Roheet Bhatnagar

  5. Faculty of Computer and Information Science, Ain Shams University, Cairo, Egypt

    Mohamed F. Tolba

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Azar, A.T., Serrano, F.E., Vaidyanathan, S., Albalawi, H. (2020). Adaptive Higher Order Sliding Mode Control for Robotic Manipulators with Matched and Mismatched Uncertainties. In: Hassanien, A., Azar, A., Gaber, T., Bhatnagar, R., F. Tolba, M. (eds) The International Conference on Advanced Machine Learning Technologies and Applications (AMLTA2019). AMLTA 2019. Advances in Intelligent Systems and Computing, vol 921. Springer, Cham. https://doi.org/10.1007/978-3-030-14118-9_36

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