Title: Adaptive second order sliding mode control under parametric uncertainties: application to a robotic system
Authors: Fatma Abdelhedi; Nabil Derbel
Addresses: Sfax Engineering School, Control and Energy Management Laboratory (CEM-Lab), University of Sfax, Tunisia ' Sfax Engineering School, Control and Energy Management Laboratory (CEM-Lab), University of Sfax, Tunisia
Abstract: The sliding mode control concept has been extensively investigated during the last decade, where it has been proved that such a control strategy is not so simple to be efficiently applied in dynamical and mechanical systems, because of the too strong sensitivity of such systems to the chattering phenomenon. In this paper, a reformulated second order sliding mode controller has been implemented into a robotic system for a trajectory tracking task, both in the case of ideal operation as well as for real systems submitted to parameter uncertainties. A comparative study performed through the obtained simulation results has been presented. Then, an adaptive extension of the second order sliding mode control has been treated seeking to resolve the challenging problems of real systems reflected by the presence of physical and environmental disturbances and especially parametric uncertainties. The proposed adaptive second order SMC has the advantage that it allows not only to remedy disturbing phenomena but also to retain all properties and system performances. Simulation results performed on a robotic manipulator system have illustrated improved performances with the proposed adaptive second order sliding mode control design.
Keywords: second order sliding mode control; nonlinear systems; adaptive control; parameter uncertainties; robot manipulators.
International Journal of Modelling, Identification and Control, 2017 Vol.27 No.4, pp.332 - 341
Received: 03 Mar 2016
Accepted: 16 May 2016
Published online: 09 Jun 2017 *