Insight Into the Significance of Trajectory Tracking Control of a 3R Robot Manipulator in the Presence of External Disturbances

Irfan Ali, Zarqa Bano, Umair Khan and Ghada A. Alsawah

Journal of Mathematics, 2025, vol. 2025, 1-13

Abstract: Robotics systems deal with uncertainties and nonlinearities of robot manipulator dynamics, such as the mass of the payload, which is an unmodeled dynamic uncertainty, and external disturbances caused by fluctuations from external sources. Hence, it has huge industrial applications. This study examines the use of a new combination of the optimal integral sliding mode control (OISMC), on 3-DoF robot manipulators subject to external perturbation. The investigation is divided into two parts. The first step involves optimal control with appropriate weights without considering external disturbances, while the second stage employs integral sliding mode control to manage dynamic responses to disruptions. The model calculations are carried out using Mathematica software, and the study of a 3R joint SCARA-type robot exhibits the robustness of the methodology. The convergence of the method is proven through Lyapunov candidate function analysis and a further novel theoretical insight is provided for the stability of the system through the phase portrait of the sliding variables. The performance of the control system was evaluated using two time-domain metrics—RMS, and ISU—to validate the convergence of the simulations, while the chattering effect is mitigated by a saturation function.

Date: 2025
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jjmath:6713783

DOI: 10.1155/jom/6713783

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