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<p>This paper proposes a novel reaching law and adaptive parameter tuning framework. The proposed scheme enhances the reaching time to the zero sliding surface while decreasing the chattering amplitude through switching gain adaptive tuning. This reduction in conservativeness fosters better chattering attenuation with the potential for integration with uncertainty approximation methods when necessary for improved results. A complementary chattering-free variant of the reaching law is also proposed that demonstrates enhanced tracking performance. The advantages of the proposed schemes are demonstrated through mathematical proofs and detailed simulation results on a SCARA robot.</p>

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Time delay control of a robotic manipulator using an enhanced adaptive sliding mode control switching gain

  • 期刊论文

  • 发表日期：

    2025年1月31日

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  • Alireza Fateh,
  • Hamidreza Momeni

摘要

This paper proposes a novel reaching law and adaptive parameter tuning framework. The proposed scheme enhances the reaching time to the zero sliding surface while decreasing the chattering amplitude through switching gain adaptive tuning. This reduction in conservativeness fosters better chattering attenuation with the potential for integration with uncertainty approximation methods when necessary for improved results. A complementary chattering-free variant of the reaching law is also proposed that demonstrates enhanced tracking performance. The advantages of the proposed schemes are demonstrated through mathematical proofs and detailed simulation results on a SCARA robot.