Robust and Efficient Trajectory Tracking for Robotic Manipulators via an Optimally Tuned Adaptive Integral Sliding Mode Controller

Tareq A. Sultan, College of Control and Systems Engineering, University of Technology, Baghdad, Iraq, Alsinaa Street 52, 10066 Baghdad, IraqFollow
Abbas H. Issa, College of Electrical Engineering, University of Technology, Baghdad, Iraq, Alsinaa Street 52, 10066 Baghdad, Iraq
Layla H. Abood, College of Control and Systems Engineering, University of Technology, Baghdad, Iraq, Alsinaa Street 52, 10066 Baghdad, Iraq

Keywords

Integral sliding mode control, Adaptive control, Robotic manipulator, Osprey optimization algorithm, Trajectory tracking

Document Type

Article

Abstract

A robust Optimized Adaptive Integral Sliding Mode Controller (OAISMC) is proposed for high-precision trajectory tracking and chattering suppression of a 3-DOF where high decoupling rigid multi-body dynamics robotic manipulator in the presence of nonlinearities, parametric uncertainties, and external disturbances. The controller is designed to overcome strong joint coupling around an integral sliding surface, which eliminates the reaching phase and ensures robustness throughout the entire operation. Adaptive laws are incorporated to update the switching gains online without requiring a priori knowledge of disturbance bounds. The free design parameters of the controller are optimally tuned using the Osprey Optimization Algorithm (OOA) and Grey Wolf Optimizer (GWO) as compare, by minimizing a cost function to have high tracking accuracy over the rest. A rigorous Lyapunov-based stability analysis is presented, demonstrating asymptotic stability of the closed-loop tracking error under bounded matched disturbances. Simulation results on a 3-DOF manipulator under 50% parametric uncertainty and impulsive external torques confirm the effectiveness of the proposed approach. Compared to a Conventional Sliding Mode Controller (CSMC) baseline, the OAISMC achieves a 94.85 % reduction in root-mean-square (RMS) tracking error and an 87.3% reduction in peak control effort Furthermore, for, it demonstrated control effort reductions of 92.3% and 74.6% for the first and second links, respectively, when compared to an SSMC approach by Qureshi et al, showing the superiority of our approach. These results establish the OAISMC as an efficient and robust control scheme for manipulators operating in dynamic and uncertain environments.

Recommended Citation

Sultan, Tareq A.; Issa, Abbas H.; and Abood, Layla H. (2026) "Robust and Efficient Trajectory Tracking for Robotic Manipulators via an Optimally Tuned Adaptive Integral Sliding Mode Controller," Engineering and Technology Journal: Vol. 44: Iss. 8, Article 3.
DOI: https://doi.org/10.30684/2412-0758.1570

DOI

10.30684/2412-0758.1570

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