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Authors: Yassine Kali 1 ; Maarouf Saad 2 and Khalid Benjelloun 1

Affiliations: 1 Ecole Mohammadia d'Ingénieurs and Mohammed V University, Morocco ; 2 Ecole de Technologie Supérieure, Canada

Keyword(s): Second Order Sliding Mode, Time Delay Estimation, Non-singular Terminal Sliding Surface, Lyapunov, Uncertain Robot.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robotics and Automation

Abstract: In this paper, a second order sliding mode with time delay estimation based on non-singular terminal sliding surface is presented for high-accuracy tracking trajectory of uncertain robot manipulators. The design of the proposed controller is based on a non-singular terminal sliding surface that overcomes the problem of singularity and the restrictions of the exponent in classical terminal sliding surface. Then, a second order sliding mode control scheme with time delay estimation is proposed to eliminate the chattering phenomenon and to estimate the uncertainties and disturbances. Lyapunov theory is used to prove the finite-time convergence of the sliding surface and its derivative. Finally, simulation results are presented to illustrate the effectiveness of the proposed method.

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Paper citation in several formats:
Kali, Y., Saad, M. and Benjelloun, K. (2017). Non-singular Terminal Second Order Sliding Mode with Time Delay Estimation for Uncertain Robot Manipulators. In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-264-6; ISSN 2184-2809, SciTePress, pages 226-232. DOI: 10.5220/0006394902260232

@conference{icinco17,
author={Yassine Kali and Maarouf Saad and Khalid Benjelloun},
title={Non-singular Terminal Second Order Sliding Mode with Time Delay Estimation for Uncertain Robot Manipulators},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2017},
pages={226-232},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006394902260232},
isbn={978-989-758-264-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Non-singular Terminal Second Order Sliding Mode with Time Delay Estimation for Uncertain Robot Manipulators
SN - 978-989-758-264-6
IS - 2184-2809
AU - Kali, Y.
AU - Saad, M.
AU - Benjelloun, K.
PY - 2017
SP - 226
EP - 232
DO - 10.5220/0006394902260232
PB - SciTePress

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