Adaptive Higher Order Sliding Mode Control for Robotic Manipulators with Matched and Mismatched Uncertainties

  • Ahmad Taher AzarEmail author
  • Fernando E. Serrano
  • Sundarapandian Vaidyanathan
  • Hani Albalawi
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 921)


Robotic manipulators have been extensively used in industrial and other kinds of applications. Thus, it is important to design effective control strategies for tracking precision for robotic manipulators. In this work, an adaptive higher order sliding mode control for a robotic manipulator with matched and mismatched uncertainties is proposed. Matched uncertainties occur when they are found in the input of the system and mismatched uncertainties are found in the system parameters. Hence, an adaptive higher order sliding mode controller is designed when both matched and mismatched uncertainties are found. Considering that uncertainties yield unwanted effects in the controller design, sliding mode control provides a suitable control strategy for robotic manipulators when extreme tracking precision of the end effector is needed especially in a reduced task space. The design procedure starts with the dynamic model represented in the Euler-Lagrange form considering the uncertainties of the system and then by implementing a Lyapunov stability method and selecting an appropriate sliding surface suitable control. Finally, adaptive laws are obtained taking into account the matched and mismatched uncertainties in the system model. As a numerical example, the proposed control strategy is validated for trajectory tracking purposes of a five bar linkage mechanism.


Robotics Sliding mode control Uncertainties Adaptive control Mechatronics 


  1. Adrot, O., Shariari, K., Flaus, J.-M.: Estimation of bounded model uncertainties. IFAC Proc. 37(15), 391–396 (2004)CrossRefGoogle Scholar
  2. Azar, A., Serrano, F.: Robust control for asynchronous switched nonlinear systems with time varying delays. Adv. Intell. Syst. Comput. 533, 891–899 (2017)Google Scholar
  3. Azar, A.T., Radwan, A.G., Vaidyanathan, S.: Fractional Order Systems. Academic Press, London (2018a)zbMATHGoogle Scholar
  4. Azar, A.T., Radwan, A.G., Vaidyanathan, S.: Mathematical Techniques of Fractional Order Systems. Academic Press, London (2018b)zbMATHGoogle Scholar
  5. Azar, A.T., Vaidyanathan, S.: Chaos Modeling and Control Systems Design. Springer, Heidelberg (2015)CrossRefGoogle Scholar
  6. Azar, A.T., Vaidyanathan, S.: Advances in Chaos Theory and Intelligent Control. Springer, Heidelberg (2016)CrossRefGoogle Scholar
  7. Azar, A.T., Vaidyanathan, S.: Advances in System Dynamics and Control. IGI Global, Hershey (2018)CrossRefGoogle Scholar
  8. Azar, A.T., Zhu, Q.: Advances and Applications in Sliding Mode Control. Springer, Heidelberg (2015)CrossRefGoogle Scholar
  9. Barth, A., Reger, J., Moreno, J.A.: Indirect adaptive control for higher order sliding mode. IFAC-PapersOnLine 51(13), 591–596 (2018)CrossRefGoogle Scholar
  10. Battilotti, S.: Stabilization of nonlinear systems with norm bounded uncertainties. IFAC Proc. 29(1), 2002–2007 (1996)CrossRefGoogle Scholar
  11. Gutierrez, I., Hernandez-Martinez, E., Oropeza, A., Keshtkar, S.: High-order sliding mode control for solar tracker manipulator. Mech. Mach. Sci. 54, 235–243 (2018)CrossRefGoogle Scholar
  12. Han, Y., Liu, X.: Continuous higher-order sliding mode control with time-varying gain for a class of uncertain nonlinear systems. ISA Trans. 62, 193–201 (2016a)CrossRefGoogle Scholar
  13. Han, Y., Liu, X.: Higher-order sliding mode control for trajectory tracking of air cushion vehicle. Optik - Int. J. Light Electron Opt. 127(5), 2878–2886 (2016b)Google Scholar
  14. Khan, Q., Bhatti, A.I., Ahmed, Q.: Dynamic integral sliding mode control of nonlinear siso systems with states dependent matched and mismatched uncertainties. IFAC Proc. 44(1), 3932–3937 (2011)CrossRefGoogle Scholar
  15. Köroglu, H., Scherer, C.W.: Robust stability analysis for structured uncertainties with bounded variation rates. IFAC Proc. 38(1), 179–184 (2005)CrossRefGoogle Scholar
  16. Mobayen, S., Tchier, F.: Robust global second-order sliding mode control with adaptive parameter-tuning law for perturbed dynamical systems. Trans. Inst. Meas. Contr. 40(9), 2855–2867 (2018)CrossRefGoogle Scholar
  17. Mohamed, G., Sofiane, A., Nicolas, L.: Adaptive super twisting extended state observer based sliding mode control for diesel engine air path subject to matched and unmatched disturbance. Math. Comput. Simul. 151, 111–130 (2018)MathSciNetCrossRefGoogle Scholar
  18. Mondal, S., Mahanta, C.: Nonlinear sliding surface based second order sliding mode controller for uncertain linear systems. Commun. Nonlinear Sci. Numer. Simul. 16(9), 3760–3769 (2011)MathSciNetCrossRefGoogle Scholar
  19. Mondal, S., Mahanta, C.: Chattering free adaptive multivariable sliding mode controller for systems with matched and mismatched uncertainty. ISA Trans. 52(3), 335–341 (2013)CrossRefGoogle Scholar
  20. Mujumdar, A., Kurode, S., Tamhane, B.: Control of two link flexible manipulator using higher order sliding modes and disturbance estimation. IFAC Proc. 47(1), 95–102 (2014)CrossRefGoogle Scholar
  21. Spong, M., Hutchinson, S., Vidyasagar, M.: Robot Modeling and Control. Wiley, Hoboken (2006)Google Scholar
  22. Tannuri, E.A., Agostinho, A.C.: Higher order sliding mode control applied to dynamic positioning systems. IFAC Proc. 43(20), 132–137 (2010)CrossRefGoogle Scholar
  23. Thomas, M., Kamal, S., Bandyopadhyay, B., Vachhani, L.: Continuous higher order sliding mode control for a class of uncertain mimo nonlinear systems: an iss approach. Eur. J. Control 41, 1–7 (2018)MathSciNetCrossRefGoogle Scholar
  24. Tiwari, P.M., Janardhanan, S., un Nabi, M.: Attitude control using higher order sliding mode. Aerosp. Sci. Technol. 54, 108–113 (2016)Google Scholar
  25. Zhao, Y., Huang, P., Zhang, F.: Dynamic modeling and super-twisting sliding mode control for tethered space robot. Acta Astronautica 143, 310–321 (2018)CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Ahmad Taher Azar
    • 1
    Email author
  • Fernando E. Serrano
    • 2
  • Sundarapandian Vaidyanathan
    • 3
  • Hani Albalawi
    • 4
  1. 1.Faculty of Computers and InformationBenha UniversityBenhaEgypt
  2. 2.Universidad Tecnologica Centroamericana (UNITEC), Zona JacaleapaTegucigalpaHonduras
  3. 3.Research and Development CentreVel Tech University, AvadiChennaiIndia
  4. 4.Electrical Engineering DepartmentUniversity of TabukTabukSaudi Arabia

Personalised recommendations