Position Synchronization Control of Multiple Robotic Manipulator Systems using Low Pass Filter based Integral Sliding Mode

Abstract

This paper proposes a low pass filter (LPF) based integral sliding mode controller for position synchronization of multiple robotic manipulator systems. The proposed controller is capable of synchronizing the movement of multiple robotic manipulators following the same desired trajectory. The integral sliding mode makes the system insensitive to lumped system uncertainties during the entire system response. Further, to reduce chattering, the switching element is smoothened by using a low pass filter. The asymptotic stability of the controlled system is proved via Lyapunov stability analysis. Simulation studies conducted on a two degrees of freedom (DoF) dual arm robotic manipulator system demonstrate the effectiveness of the proposed controller.