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Robust tracking control of a three-degree-of-freedom robot manipulator with disturbances using an integral sliding mode controller

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Abstract

Robot systems often face highly nonlinear manipulator dynamics and uncertainties such as external disturbances, payload variations, and end effector modeling errors. Therefore, it is of great industrial importance to compute and simulate the dynamic response of these manipulators in a reliable manner. This research investigates a robust control strategy—Integral Sliding Mode Control (ISMC)—applied to a three-degree-of-freedom robot manipulator with external disturbances. The study consists of two stages. The first stage uses Proportional-Derivative (PD) control with dynamically calculated weight values in the absence of the external disturbances. In the second stage, ISMC is employed to address dynamic responses to disturbances. The computation work on the model is implemented in Mathematica software, and a three-joint SCARA-type robot is tested to demonstrate methodology robustness. In the end, stability is ensured through Lypunove function analysis and the sliding surface's phase portrait.

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Data availability statement

Data for this study is available upon request from the corresponding author.

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Acknowledgements

I would like to acknowledge that Irfan Ali, a Ph.D. scholar, has contributed to this work as part of his doctoral thesis.

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Authors and Affiliations

  1. Department of Mathematics and Social Sciences, Sukkur IBA University, Sukkur, 65200, Pakistan

    Irfan Ali & Zarqa Bano

  2. Department of Mathematics, COMSATS University Islamabad, Lahore Campus, Islamabad, 54000, Pakistan

    Mohsan Hassan

  3. School of Marine Science and Engineering, South China University of Technology, Guangzhou, China

    Zhang Chunwei

Authors
  1. Irfan Ali
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  2. Mohsan Hassan
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  3. Zarqa Bano
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  4. Zhang Chunwei
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Contributions

Conceptualization and original draft, IA; Writing—review and editing, MH; Review writing, ZC; Formal analysis, ZB; All authors have read and agreed to the final version of the manuscript.

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Correspondence to Mohsan Hassan.

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Ali, I., Hassan, M., Bano, Z. et al. Robust tracking control of a three-degree-of-freedom robot manipulator with disturbances using an integral sliding mode controller. Int J Intell Robot Appl (2024). https://doi.org/10.1007/s41315-023-00312-z

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