Tracking error control of robotic manipulator using optimal integral sliding mode control in the presence of external disturbances

Abstract

In this study, we propose the OISMC approach for robust control under various unpredictable uncertainties. The approach uses optimal control (LQR gains) to deliver state feedback gains that help fulfill one of our objectives, which is to reduce the cost function in the presence of leading response, coupling effects on each link, and external control input disturbances. The approach offers several major benefits, including fast recovery reaction, reduced chattering, excellent tracking performance, low energy consumption, easy implementation, and solidity against uncertainties. Furthermore, the approach is theoretically sound and supported by extensive simulation testing and the Lyapunov stability theory. In our study, we conducted simulations using Mathematica computer software. We anticipate that the proposed approach will be helpful in developing reliable and superior tracking control for all types of uncertain multivariate systems.