TY - GEN
T1 - Experimental Application of the Adaptive Second Order Sliding Mode Control for a Robotic System
AU - Abdelhedi, Fatma
AU - Benabdallh, Ismail
AU - Bouteraa, Yassine
AU - Derbel, Nabil
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - When a robot performs a motion control task in a real dynamic environment, it has to account not only for maintaining the track where it is, and how it expects to rise, but also to ensure that dynamic uncertainties and task specific limitations are properly expected. In this paper, a second order sliding mode controller has been implemented into a robotic system for a trajectory tracking task, in the case of ideal functioning as well as for real systems submitted to parameters uncertainties. Then, an adaptive extension of the second order sliding mode control has been established to tackle the presence of physical environmental disturbances and mainly the parametric uncertainties problems. An experimental implementation of the adaptive second order SMC performed on 4 DOF Lynx robot illustrates the effectiveness of the architecture control.
AB - When a robot performs a motion control task in a real dynamic environment, it has to account not only for maintaining the track where it is, and how it expects to rise, but also to ensure that dynamic uncertainties and task specific limitations are properly expected. In this paper, a second order sliding mode controller has been implemented into a robotic system for a trajectory tracking task, in the case of ideal functioning as well as for real systems submitted to parameters uncertainties. Then, an adaptive extension of the second order sliding mode control has been established to tackle the presence of physical environmental disturbances and mainly the parametric uncertainties problems. An experimental implementation of the adaptive second order SMC performed on 4 DOF Lynx robot illustrates the effectiveness of the architecture control.
KW - adaptive control
KW - Nonlinear systems
KW - parameter uncertainties
KW - robot manipulators
KW - Second order sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=85177461358&partnerID=8YFLogxK
U2 - 10.1109/CoDIT58514.2023.10284313
DO - 10.1109/CoDIT58514.2023.10284313
M3 - Conference contribution
AN - SCOPUS:85177461358
T3 - 9th 2023 International Conference on Control, Decision and Information Technologies, CoDIT 2023
SP - 980
EP - 985
BT - 9th 2023 International Conference on Control, Decision and Information Technologies, CoDIT 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Conference on Control, Decision and Information Technologies, CoDIT 2023
Y2 - 3 July 2023 through 6 July 2023
ER -