Adaptive second order sliding mode control under parametric uncertainties: application to a robotic system

摘要

The sliding mode control concept has been extensively investigated during the last decade, where it has been proved that such a control strategy is not so simple to be efficiently applied in dynamical and mechanical systems, because of the too strong sensitivity of such systems to the chattering phenomenon. In this paper, a reformulated second order sliding mode controller has been implemented into a robotic system for a trajectory tracking task, both in the case of ideal operation as well as for real systems submitted to parameter uncertainties. A comparative study performed through the obtained simulation results has been presented. Then, an adaptive extension of the second order sliding mode control has been treated seeking to resolve the challenging problems of real systems reflected by the presence of physical and environmental disturbances and especially parametric uncertainties. The proposed adaptive second order SMC has the advantage that it allows not only to remedy disturbing phenomena but also to retain all properties and system performances. Simulation results performed on a robotic manipulator system have illustrated improved performances with the proposed adaptive second order sliding mode control design.