Higher Order Integral Sliding Mode Controller for a Robotic Manipulator

The application of robotic manipulators are mainly in critical areas like surgery, nuclear containment etc. Hence Precise control of manipulators are very essential. In this paper a Higher order integral sliding mode controller(HOISMC) has been proposed, which exhibited perfect precise tracking compared to conventional Integral Sliding Mode Controller for a nonlinear 2-link robotic manipulator. The designed HOISMC is invariant to both parametric and non parametric uncertainties. The challenge with conventional ISMC is that the presence of high magnitude chattering in the control signal. HOISMC using super twisting algorithm eliminates chattering in conventional ISMC. The main advantages of the proposed HOISMC is that it does not modify the integral sliding variable and eliminates the chattering in the control signal provided by the conventional ISMC to a great extend. The results of conventional ISMC and HOISMC has been validated by using simulation results.