An improved optimal integral sliding mode control for uncertain robotic manipulators with reduced tracking error, chattering, and energy consumption

• Main Authors: Norsahperi, N. M. H., Danapalasingam, K. A.
• Format: Article
• Published: Academic Press Inc. 2020
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/86874/; https://dx.doi.org/10.1016/j.ymssp.2020.106747

This paper proposes an improved optimal integral sliding mode control (IOISMC) for a robust and optimal tracking control of robotic manipulators under the presence of coupling effects, parameter variations, and external disturbances. By representing the system dynamics in the error coordinate and in...