Integral Sliding Mode Control for an n-DOF Robot Manipulator with Disturbance Estimator

https://doi.org/10.58571/CNCA.AMCA.2025.040

Resumen: The following work addresses the trajectory tracking problem for robotic manipulators. A sliding mode-based controller is designed for an n-degree-of-freedom robotic manipulator to achieve trajectory tracking control. Conventional Sliding Mode Control involves a reaching phase, which is the time the system takes to reach the sliding surface; during this stage, the system is vulnerable to parametric uncertainties and external disturbances. The employed sliding mode technique is called Integral Sliding Mode control and allows the system to skip the reaching phase, thus making the system invulnerable to disturbances from the beginning. Additionally, a simple, easy-to-implement disturbance estimator is designed in order to smooth out the control signal. Numerical simulations of the controller implemented for a 2 DOF robotic manipulator support the performance of the proposed controller.

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Valenzuela Hanon, V., Rascón Carmona, R., Moreno Valenzuela, E., Rios Valenzuela, E., Zepeda Valencia, I. & Moreno Ahedo, L. (2025). Integral Sliding Mode Control for an n-DOF Robot Manipulator with Disturbance Estimator. Memorias del Congreso Nacional de Control Automático 2025, pp. 233-237. https://doi.org/10.58571/CNCA.AMCA.2025.040

Palabras clave

Mechatronics, Robotics, Integral Sliding Mode Control, Disturbance Estimator, Trajectory Tracking.

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