Experimental Application of the Adaptive Second Order Sliding Mode Control for a Robotic System

When a robot performs a motion control task in a real dynamic environment, it has to account not only for maintaining the track where it is, and how it expects to rise, but also to ensure that dynamic uncertainties and task specific limitations are properly expected. In this paper, a second order sliding mode controller has been implemented into a robotic system for a trajectory tracking task, in the case of ideal functioning as well as for real systems submitted to parameters uncertainties. Then, an adaptive extension of the second order sliding mode control has been established to tackle the presence of physical environmental disturbances and mainly the parametric uncertainties problems. An experimental implementation of the adaptive second order SMC performed on 4 DOF Lynx robot illustrates the effectiveness of the architecture control.