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Adaptive FIT-SMC Approach for an Anthropomorphic Manipulator With Robust Exact Differentiator and Neural Network-Based Friction Compensation

Ali, Khurram; Ullah, Safeer; Mehmood, Adeel; Mostafa, Hala; Marey, Mohamed; Iqbal, Jamshed


Khurram Ali

Safeer Ullah

Adeel Mehmood

Hala Mostafa

Mohamed Marey


In robotic manipulators, feedback control of nonlinear systems with fast finite-time convergence is desirable. However, because of the parametric and model uncertainties, the robust control and tuning of the robotic manipulators pose many challenges related to the trajectory tracking of the robotic system. This research proposes a state-of-the-art control algorithm, which is the combination of fast integral terminal sliding mode control (FIT-SMC), robust exact differentiator (RED) observer, and feedforward neural network (FFNN) based estimator. Firstly, the dynamic model of the robotic manipulator is established for the n-degrees of freedom (DoFs) system by taking into account the dynamic LuGre friction model. Then, a FIT-SMC with friction compensation-based nonlinear control has been proposed for the robotic manipulator. In addition, a RED observer is developed to get the estimates of robotic manipulator joints' velocities. Since the dynamic friction state of the LuGre friction model is unmeasurable, FFNN is established for training and estimating the friction torque. The Lyapunov method is presented to demonstrate the finite-time sliding mode enforcement and state convergence for a robotic manipulator. The proposed control approach has been simulated in the MATLAB/Simulink environment and compared with the system with no observer to characterize the control performance. Simulation results obtained with the proposed control strategy affirm its effectiveness for a multi-DoF robotic system with model-based friction compensation having an overshoot and a settling time less than 1.5% and 0.2950 seconds, respectively, for all the joints of the robotic manipulator.


Ali, K., Ullah, S., Mehmood, A., Mostafa, H., Marey, M., & Iqbal, J. (2022). Adaptive FIT-SMC Approach for an Anthropomorphic Manipulator With Robust Exact Differentiator and Neural Network-Based Friction Compensation. IEEE Access, 10, 3378-3389.

Journal Article Type Article
Acceptance Date Dec 18, 2021
Online Publication Date Jan 4, 2022
Publication Date 2022
Deposit Date Dec 28, 2021
Publicly Available Date Jan 7, 2022
Journal IEEE Access
Electronic ISSN 2169-3536
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 10
Pages 3378-3389
Keywords robotic manipulator , robust exact differentiator , feedforward neural network , fast integral sliding mode control , LuGre friction model , autonomous articulated robotic educational platform
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