Control of Robot Manipulators Using Modified Backstepping Sliding Mode

  • Yassine KaliEmail author
  • Maarouf Saad
  • Khalid Benjelloun
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 175)


In this chapter, a robust backstepping sliding mode controller with time delay estimation method is presented for high accuracy joint space tracking trajectory of robot manipulators with unknown dynamics and external disturbances. The proposed method is based on backstepping scheme, on a switching function and on a time delay estimation in the final step. This structure is used to estimate unknown dynamics and disturbances, to adapt the switching gains in term of the error and its first time derivative and to reduce the control effort and the chattering phenomenon. Lyapunov theory is used to establish sufficient condition that ensures the stability of the closed-loop system. The proposed controller is simulated on a two-link robot and implemented in real time on the 7-DOF ANAT robot to show the effectiveness regarding unknown dynamics and external disturbances and chattering reduction.


Backstepping Sliding mode Time delay estimation Uncertainties Robot manipulators Tracking position 



The authors are grateful to Nabil Derbel (University of Sfax, Tunisia), Jawhar Ghommam (University of Tunis, Tunisia) and Quanmin Zhu (University of the West of England) for the opportunity to contribute to the New developments and advances in the field of Robotics.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.Department of Electrical Engineering, Ecole Mohammadia d’IngénieursUniversity of Mohammed VRabatMorocco
  2. 2.Department of Electrical EngineeringÉcole de Technologie SupérieureMontrealCanada

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