Adaptive Terminal-Integral Sliding Mode Force Control of Elastic Joint Robot Manipulators in the Presence of Hysteresis

  • Ahmad Taher AzarEmail author
  • Fernando E. Serrano
  • Anis Koubaa
  • Nashwa Ahmad Kamal
  • Sundarapandian Vaidyanathan
  • Arezki Fekik
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1058)


In this paper, an adaptive terminal-integral sliding mode force control of elastic joint robot manipulators in the presence of hysteresis is proposed. One of the most important issues that is solved in this study is that the hysteresis phenomenon is considered something that provokes losses in the manipulator motion and controller errors. Force control is necessary because it can be implemented and very useful in the area of industrial robotics such as collaborative and cooperative robotics. Therefore, it can be implemented for precise control in which robot-operator or robot-robot interaction is needed. An adaptive terminal-integral sliding mode force control is proposed by considering the hysteresis and the effects between the end effector and a flexible environment. Force control has not been studied extensively nowadays and even less for elastic joint robot manipulators. Thus, to improve the system precision control, the adaptive sliding mode controller (ASMC) is designed by a Lyapunov approach obtaining the adaptive and controller laws, respectively. As an experimental case study, two links elastic joint robot manipulator is considered by obtaining the elastic joint model with hysteresis using a Bouc-Wen model.


Hysteresis Flexible structures Robotics Force control Integral sliding mode control Terminal sliding mode control 



This work is supported by the Robotics and Internet of Things lab of Prince Sultan University, Saudi Arabia.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Ahmad Taher Azar
    • 1
    • 2
    Email author
  • Fernando E. Serrano
    • 3
  • Anis Koubaa
    • 4
    • 5
    • 6
  • Nashwa Ahmad Kamal
    • 7
  • Sundarapandian Vaidyanathan
    • 8
  • Arezki Fekik
    • 9
  1. 1.College of EngineeringPrince Sultan UniversityRiyadhKingdom of Saudi Arabia
  2. 2.Faculty of Computers and Artificial IntelligenceBenha UniversityBenhaEgypt
  3. 3.Universidad Tecnologica Centroamericana (UNITEC)TegucigalpaHonduras
  4. 4.Prince Sultan UniversityRiyadhKingdom of Saudi Arabia
  5. 5.CISTER, INESC-TEC, ISEP, Polytechnic Institute of PortoPortoPortugal
  6. 6.Gaitech RoboticsShanghaiChina
  7. 7.Electrical Power and Machine Department, Faculty of EngineeringCairo UniversityGizaEgypt
  8. 8.Research and Development CentreVel Tech University AvadiChennaiIndia
  9. 9.Electrical Engineering Advanced Technology Laboratory (LATAGE)University Mouloud Mammeri of Tizi-OuzouTizi OuzouAlgeria

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