Adaptive sliding mode control design for the 2-DOF robot arm manipulators

Ahmed Eltayeb; M. F. Rahmat; M. A. Mohammed Eltoum; Ibrahim M.H. Sanhoury; M. A.M. Basri

doi:10.1109/ICCCEEE46830.2019.9071314

Adaptive sliding mode control design for the 2-DOF robot arm manipulators

Ahmed Eltayeb, M. F. Rahmat, M. A. Mohammed Eltoum, Ibrahim M.H. Sanhoury, M. A.M. Basri

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Scopus citations

Abstract

In this paper, an adaptive sliding mode (ASMC) controller designed for a multi-inputs and multi-outputs (MIMO) robotic arm nonlinear manipulator system. The controller is designed based on Lyapunov theorem to achieve a robust trajectory tracking taking into consideration the system's uncertainties in addition to reducing the effect of chattering problem associated with the traditional sliding mode control. It's found that, even in the presence of the parameters' uncertainties, the performance of the proposed controller for the trajectory tracking is robust. Furthermore, chattering is significantly reduced.

Original language	English
Title of host publication	Proceedings of the International Conference on Computer, Control, Electrical, and Electronics Engineering 2019, ICCCEEE 2019
Editors	Ahmed Hassan Mohammed Hassan, Ahmed M. Alhassan
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728110066
DOIs	https://doi.org/10.1109/ICCCEEE46830.2019.9071314
State	Published - Sep 2019
Externally published	Yes
Event	2019 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2019 - Khartoum North, Sudan Duration: 21 Sep 2019 → 23 Sep 2019

Publication series

Name	Proceedings of the International Conference on Computer, Control, Electrical, and Electronics Engineering 2019, ICCCEEE 2019

Conference

Conference	2019 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2019
Country/Territory	Sudan
City	Khartoum North
Period	21/09/19 → 23/09/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Keywords

Chattering
Robot Arm
Sliding mode control

ASJC Scopus subject areas

Control and Optimization
Computer Networks and Communications
Control and Systems Engineering
Electrical and Electronic Engineering
Safety, Risk, Reliability and Quality

Access to Document

10.1109/ICCCEEE46830.2019.9071314

Cite this

Eltayeb, A., Rahmat, M. F., Mohammed Eltoum, M. A., Sanhoury, I. M. H., & Basri, M. A. M. (2019). Adaptive sliding mode control design for the 2-DOF robot arm manipulators. In A. H. M. Hassan, & A. M. Alhassan (Eds.), Proceedings of the International Conference on Computer, Control, Electrical, and Electronics Engineering 2019, ICCCEEE 2019 Article 9071314 (Proceedings of the International Conference on Computer, Control, Electrical, and Electronics Engineering 2019, ICCCEEE 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCCEEE46830.2019.9071314

Eltayeb, Ahmed ; Rahmat, M. F. ; Mohammed Eltoum, M. A. et al. / Adaptive sliding mode control design for the 2-DOF robot arm manipulators. Proceedings of the International Conference on Computer, Control, Electrical, and Electronics Engineering 2019, ICCCEEE 2019. editor / Ahmed Hassan Mohammed Hassan ; Ahmed M. Alhassan. Institute of Electrical and Electronics Engineers Inc., 2019. (Proceedings of the International Conference on Computer, Control, Electrical, and Electronics Engineering 2019, ICCCEEE 2019).

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title = "Adaptive sliding mode control design for the 2-DOF robot arm manipulators",

abstract = "In this paper, an adaptive sliding mode (ASMC) controller designed for a multi-inputs and multi-outputs (MIMO) robotic arm nonlinear manipulator system. The controller is designed based on Lyapunov theorem to achieve a robust trajectory tracking taking into consideration the system's uncertainties in addition to reducing the effect of chattering problem associated with the traditional sliding mode control. It's found that, even in the presence of the parameters' uncertainties, the performance of the proposed controller for the trajectory tracking is robust. Furthermore, chattering is significantly reduced.",

keywords = "Chattering, Robot Arm, Sliding mode control",

author = "Ahmed Eltayeb and Rahmat, \{M. F.\} and \{Mohammed Eltoum\}, \{M. A.\} and Sanhoury, \{Ibrahim M.H.\} and Basri, \{M. A.M.\}",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2019 ; Conference date: 21-09-2019 Through 23-09-2019",

year = "2019",

month = sep,

doi = "10.1109/ICCCEEE46830.2019.9071314",

language = "English",

series = "Proceedings of the International Conference on Computer, Control, Electrical, and Electronics Engineering 2019, ICCCEEE 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Eltayeb, A, Rahmat, MF, Mohammed Eltoum, MA, Sanhoury, IMH & Basri, MAM 2019, Adaptive sliding mode control design for the 2-DOF robot arm manipulators. in AHM Hassan & AM Alhassan (eds), Proceedings of the International Conference on Computer, Control, Electrical, and Electronics Engineering 2019, ICCCEEE 2019., 9071314, Proceedings of the International Conference on Computer, Control, Electrical, and Electronics Engineering 2019, ICCCEEE 2019, Institute of Electrical and Electronics Engineers Inc., 2019 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2019, Khartoum North, Sudan, 21/09/19. https://doi.org/10.1109/ICCCEEE46830.2019.9071314

Adaptive sliding mode control design for the 2-DOF robot arm manipulators. / Eltayeb, Ahmed; Rahmat, M. F.; Mohammed Eltoum, M. A. et al.
Proceedings of the International Conference on Computer, Control, Electrical, and Electronics Engineering 2019, ICCCEEE 2019. ed. / Ahmed Hassan Mohammed Hassan; Ahmed M. Alhassan. Institute of Electrical and Electronics Engineers Inc., 2019. 9071314 (Proceedings of the International Conference on Computer, Control, Electrical, and Electronics Engineering 2019, ICCCEEE 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Basri, M. A.M.

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AB - In this paper, an adaptive sliding mode (ASMC) controller designed for a multi-inputs and multi-outputs (MIMO) robotic arm nonlinear manipulator system. The controller is designed based on Lyapunov theorem to achieve a robust trajectory tracking taking into consideration the system's uncertainties in addition to reducing the effect of chattering problem associated with the traditional sliding mode control. It's found that, even in the presence of the parameters' uncertainties, the performance of the proposed controller for the trajectory tracking is robust. Furthermore, chattering is significantly reduced.

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Eltayeb A, Rahmat MF, Mohammed Eltoum MA, Sanhoury IMH, Basri MAM. Adaptive sliding mode control design for the 2-DOF robot arm manipulators. In Hassan AHM, Alhassan AM, editors, Proceedings of the International Conference on Computer, Control, Electrical, and Electronics Engineering 2019, ICCCEEE 2019. Institute of Electrical and Electronics Engineers Inc. 2019. 9071314. (Proceedings of the International Conference on Computer, Control, Electrical, and Electronics Engineering 2019, ICCCEEE 2019). doi: 10.1109/ICCCEEE46830.2019.9071314

Adaptive sliding mode control design for the 2-DOF robot arm manipulators

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this