Filtered Sliding Mode Tracking Controller for Robot Joint Using Linear Matrix Inequalities Design

Lotfi Mostefai; Brahim Brahmi; Angel Valera; Valls Marina

doi:10.1109/ICICIP64458.2025.10898102

Filtered Sliding Mode Tracking Controller for Robot Joint Using Linear Matrix Inequalities Design

Lotfi Mostefai^*
, Brahim Brahmi
, Angel Valera
, Valls Marina

^*Corresponding author for this work

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

Abstract

In this paper, a Linear Matrix Inequalities (LMI) design of a filtered sliding mode controller is proposed, and applied to a robot joint for tracking control. The robot joint dynamics are linearised through the compensation of nonlinear terms (i.e. frictions, gravity, and coriolis torques), and a filtered control action is designed in order to prevent the chattering problem. The optimal control design using LMI technique can then be applied to the combined low pass filter and robot joint system, ensuring the stability of the closed loop. The proposed method is evaluated through numerical simulations of two degrees of freedom (2-DOF) end-effector type therapeutic robot, showing the robustness and performances of the controlled system under tracking task.

Original language	English
Title of host publication	13th International Conference on Intelligent Control and Information Processing, ICICIP 2025
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	323-328
Number of pages	6
ISBN (Electronic)	9798331516147
DOIs	https://doi.org/10.1109/ICICIP64458.2025.10898102
State	Published - 2025
Externally published	Yes
Event	13th International Conference on Intelligent Control and Information Processing, ICICIP 2025 - Hybrid, Muscat, Oman Duration: 6 Feb 2025 → 11 Feb 2025

Publication series

Name	13th International Conference on Intelligent Control and Information Processing, ICICIP 2025

Conference

Conference	13th International Conference on Intelligent Control and Information Processing, ICICIP 2025
Country/Territory	Oman
City	Hybrid, Muscat
Period	6/02/25 → 11/02/25

Bibliographical note

Publisher Copyright:
© 2025 IEEE.

Keywords

Filtered SMC
LMI design
joint robot tracking control
therapeutic robot

ASJC Scopus subject areas

Artificial Intelligence
Information Systems
Control and Optimization
Modeling and Simulation

Access to Document

10.1109/ICICIP64458.2025.10898102

Cite this

Mostefai, L., Brahmi, B., Valera, A., & Marina, V. (2025). Filtered Sliding Mode Tracking Controller for Robot Joint Using Linear Matrix Inequalities Design. In 13th International Conference on Intelligent Control and Information Processing, ICICIP 2025 (pp. 323-328). (13th International Conference on Intelligent Control and Information Processing, ICICIP 2025). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICICIP64458.2025.10898102

Mostefai, Lotfi ; Brahmi, Brahim ; Valera, Angel et al. / Filtered Sliding Mode Tracking Controller for Robot Joint Using Linear Matrix Inequalities Design. 13th International Conference on Intelligent Control and Information Processing, ICICIP 2025. Institute of Electrical and Electronics Engineers Inc., 2025. pp. 323-328 (13th International Conference on Intelligent Control and Information Processing, ICICIP 2025).

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title = "Filtered Sliding Mode Tracking Controller for Robot Joint Using Linear Matrix Inequalities Design",

abstract = "In this paper, a Linear Matrix Inequalities (LMI) design of a filtered sliding mode controller is proposed, and applied to a robot joint for tracking control. The robot joint dynamics are linearised through the compensation of nonlinear terms (i.e. frictions, gravity, and coriolis torques), and a filtered control action is designed in order to prevent the chattering problem. The optimal control design using LMI technique can then be applied to the combined low pass filter and robot joint system, ensuring the stability of the closed loop. The proposed method is evaluated through numerical simulations of two degrees of freedom (2-DOF) end-effector type therapeutic robot, showing the robustness and performances of the controlled system under tracking task.",

keywords = "Filtered SMC, LMI design, joint robot tracking control, therapeutic robot",

author = "Lotfi Mostefai and Brahim Brahmi and Angel Valera and Valls Marina",

note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 13th International Conference on Intelligent Control and Information Processing, ICICIP 2025 ; Conference date: 06-02-2025 Through 11-02-2025",

year = "2025",

doi = "10.1109/ICICIP64458.2025.10898102",

language = "English",

series = "13th International Conference on Intelligent Control and Information Processing, ICICIP 2025",

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

pages = "323--328",

booktitle = "13th International Conference on Intelligent Control and Information Processing, ICICIP 2025",

address = "United States",

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Mostefai, L, Brahmi, B, Valera, A & Marina, V 2025, Filtered Sliding Mode Tracking Controller for Robot Joint Using Linear Matrix Inequalities Design. in 13th International Conference on Intelligent Control and Information Processing, ICICIP 2025. 13th International Conference on Intelligent Control and Information Processing, ICICIP 2025, Institute of Electrical and Electronics Engineers Inc., pp. 323-328, 13th International Conference on Intelligent Control and Information Processing, ICICIP 2025, Hybrid, Muscat, Oman, 6/02/25. https://doi.org/10.1109/ICICIP64458.2025.10898102

Filtered Sliding Mode Tracking Controller for Robot Joint Using Linear Matrix Inequalities Design. / Mostefai, Lotfi; Brahmi, Brahim; Valera, Angel et al.
13th International Conference on Intelligent Control and Information Processing, ICICIP 2025. Institute of Electrical and Electronics Engineers Inc., 2025. p. 323-328 (13th International Conference on Intelligent Control and Information Processing, ICICIP 2025).

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

TY - GEN

T1 - Filtered Sliding Mode Tracking Controller for Robot Joint Using Linear Matrix Inequalities Design

AU - Mostefai, Lotfi

AU - Brahmi, Brahim

AU - Valera, Angel

AU - Marina, Valls

PY - 2025

Y1 - 2025

N2 - In this paper, a Linear Matrix Inequalities (LMI) design of a filtered sliding mode controller is proposed, and applied to a robot joint for tracking control. The robot joint dynamics are linearised through the compensation of nonlinear terms (i.e. frictions, gravity, and coriolis torques), and a filtered control action is designed in order to prevent the chattering problem. The optimal control design using LMI technique can then be applied to the combined low pass filter and robot joint system, ensuring the stability of the closed loop. The proposed method is evaluated through numerical simulations of two degrees of freedom (2-DOF) end-effector type therapeutic robot, showing the robustness and performances of the controlled system under tracking task.

AB - In this paper, a Linear Matrix Inequalities (LMI) design of a filtered sliding mode controller is proposed, and applied to a robot joint for tracking control. The robot joint dynamics are linearised through the compensation of nonlinear terms (i.e. frictions, gravity, and coriolis torques), and a filtered control action is designed in order to prevent the chattering problem. The optimal control design using LMI technique can then be applied to the combined low pass filter and robot joint system, ensuring the stability of the closed loop. The proposed method is evaluated through numerical simulations of two degrees of freedom (2-DOF) end-effector type therapeutic robot, showing the robustness and performances of the controlled system under tracking task.

KW - Filtered SMC

KW - LMI design

KW - joint robot tracking control

KW - therapeutic robot

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DO - 10.1109/ICICIP64458.2025.10898102

M3 - Conference contribution

AN - SCOPUS:105001117997

T3 - 13th International Conference on Intelligent Control and Information Processing, ICICIP 2025

SP - 323

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BT - 13th International Conference on Intelligent Control and Information Processing, ICICIP 2025

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Mostefai L, Brahmi B, Valera A, Marina V. Filtered Sliding Mode Tracking Controller for Robot Joint Using Linear Matrix Inequalities Design. In 13th International Conference on Intelligent Control and Information Processing, ICICIP 2025. Institute of Electrical and Electronics Engineers Inc. 2025. p. 323-328. (13th International Conference on Intelligent Control and Information Processing, ICICIP 2025). doi: 10.1109/ICICIP64458.2025.10898102

Filtered Sliding Mode Tracking Controller for Robot Joint Using Linear Matrix Inequalities Design

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this