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Higher Order Sliding Mode Control of Robot Manipulator

Authors:
Awatif Guendouzi
Ahcene Boubakir
Mustapha Hamerlain

Keywords: robot manipulator; higher order sliding mode control; Twisting; Super twisting

Abstract:
This paper presents the development of a nonlinear control strategy for a robot manipulator model, using a robust higher order sliding mode control structure. In the present work, a traditional sliding mode control is presented, the robustness of the controller in the context of stabilization and trajectory tracking, is analytically proved using Lyapunov approach. In order to reduce the chattering in sliding mode controller (SMC) we used the higher order sliding mode control algorithm (Super twisting and Twisting). The simulation results presented in this paper indicate that the suggested approach has considerable advantages compared to the classical sliding mode control.

Pages: 61 to 66

Copyright: Copyright (c) IARIA, 2013

Publication date: March 24, 2013

Published in: conference

ISSN: 2308-3913

ISBN: 978-1-61208-257-8

Location: Lisbon, Portugal

Dates: from March 24, 2013 to March 29, 2013