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All Journal IAES International Journal of Robotics and Automation (IJRA)
Nguyen, Mai Hoang
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Automotive Engineering Electrical & Electronics Engineering

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A method integral sliding mode control to minimize chattering in sliding mode control of robot manipulator Nguyen, Mai Hoang; Nguyen, Truc Thi Kim
IAES International Journal of Robotics and Automation (IJRA) Vol 14, No 3: December 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v14i3.pp345-355

Abstract

This paper presents an improved sliding mode control (SMC) strategy for robotic manipulators by introducing a novel exponential integral-based adaptive gain law, referred to as integral sliding mode control (ISMC). The proposed approach dynamically adjusts the switching gain KKK in real-time, based on the accumulated system error, thereby effectively reducing chattering while preserving system robustness. Unlike many existing methods, the ISMC strategy eliminates the need for state observers or complex estimation techniques, simplifying implementation. Theoretical analysis is provided using Lyapunov stability theory, ensuring global convergence. Simulation results on 2-DOF and 3-DOF robotic arms demonstrate superior tracking accuracy and smoother control signals compared to conventional SMC approaches. This work contributes a lightweight yet effective SMC enhancement with practical benefits for real-world robotic applications.
Co-Authors Nguyen, Truc Thi Kim