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Insensibility of the Second Order Sliding Mode Control via Measurement Noises: Application to a Robot Manipulator Surveillance Camera

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Applications of Sliding Mode Control in Science and Engineering

Part of the book series: Studies in Computational Intelligence ((SCI,volume 709))

Abstract

The Sliding Mode Control (SMC) is a widely spread approach thanks to its efficiency and robustness. However, it suffers from the undesirable chattering phenomenon which leads to the mechanical system damage. Then, this study takes into consideration the second order SMC which is known by its reliability regarding disturbances and nonlinear uncertainties, in order to improve the system stability and performances. In fact, such a high order SMC ensures a trade off between chattering reduction and disruption resistance. First, a second order sliding mode controller has been elaborated. Then, and in order to test the robustness of the proposed strategy, a measurement noise has been introduced. Simulation results show the efficiency of the proposed second order SMC applied to a robot manipulator system in a motion control task, which is used to ensure the displacement of a surveillance camera.

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Author information

Authors and Affiliations

  1. Control & Energy Management Laboratory (Cemlab), Sfax Engineering School, University of Sfax, Sfax, Tunisia

    Marwa Fathallah & Fatma Abdelhedi

  2. Sfax Engineering School, University of Sfax, Sfax, Tunisia

    Nabil Derbel

Authors
  1. Marwa Fathallah
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  2. Fatma Abdelhedi
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  3. Nabil Derbel
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Corresponding author

Correspondence to Marwa Fathallah .

Editor information

Editors and Affiliations

  1. Research and Development Centre, Vel Tech University, Chennai, Tamil Nadu, India

    Sundarapandian Vaidyanathan

  2. Maritime College and Department of Marine Engineering, National Kaohsiung Marine University, Kaohsiung, Taiwan

    Chang-Hua Lien

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Fathallah, M., Abdelhedi, F., Derbel, N. (2017). Insensibility of the Second Order Sliding Mode Control via Measurement Noises: Application to a Robot Manipulator Surveillance Camera. In: Vaidyanathan, S., Lien, CH. (eds) Applications of Sliding Mode Control in Science and Engineering. Studies in Computational Intelligence, vol 709. Springer, Cham. https://doi.org/10.1007/978-3-319-55598-0_5

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  • DOI: https://doi.org/10.1007/978-3-319-55598-0_5

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-55597-3

  • Online ISBN: 978-3-319-55598-0

  • eBook Packages: EngineeringEngineering (R0)

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