Articles | Volume 15, issue 1
Research article
05 Feb 2024
Research article |  | 05 Feb 2024

A novel generalized sliding mode controller for uncertain robot manipulators based on motion constraints

Zhaodong Wang, Lixue Mei, and Xiaoqun Ma

Related subject area

Subject: Dynamics and Control | Techniques and Approaches: Experiment and Best Practice
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Cited articles

Amirkhani, S., Mobayen, S., Iliaee, N., Boubaker, O., and Hosseinnia, S. H.: Fast terminal sliding mode tracking control of nonlinear uncertain mass–spring system with experimental verifications, Int. J. Adv. Robot. Syst., 16, 1–10,, 2019. a
Brahmi, B., Saad, M., Ochoa-Luna, C., Rahman, M. H., and Brahmi, A.: Adaptive tracking control of an exoskeleton robot with uncertain dynamics based on estimated time-delay control, IEEE-ASME T. Mech., 23, 575–585,, 2018. a
Chen, X., Zhao, H., and Zhen, S.: Constraint-following control design for the position tracking of a permanent magnet linear motor with inequality constraints, Mech. Sci., 13, 297–310,, 2022. a
Cupertino, F., Naso, D., Mininno, E., and Turchiano, B.: Sliding-mode control with double boundary layer for robust compensation of payload mass and friction in linear motors, IEEE T. Ind. Appl., 45, 1688–1696,, 2009. a
Del Prete, A., and Mansard, N.: Robustness to joint-torque-tracking errors in task-space inverse dynamics, IEEE T. Robot., 32, 1091–1105,, 2016. a
Short summary
To improve the trajectory tracking control performance for robot manipulators subject to uncertainty, a generalized sliding mode controller (SMC) is designed. In the first step, it is assumed that the dynamic model of robot manipulators is precisely known, and an ideal control is designed. In the second step, a smooth-function-based SMC is designed to prevent the chattering phenomenon caused by the discontinuous function and further enhance the robustness performance.