Study on Effective Control Strategies of a Multi-DoF Robot Arm Model: A Sliding Mode Control Method

International Journal of Electronics and Communication Engineering

© 2025 by SSRG - IJECE Journal

Volume 12 Issue 4

Year of Publication : 2025

Authors : Ngoc-Khoat Nguyen, Sy-Viet Ho, Duy-Thuan Vu, Duy-Trung Nguyen, Trung-Nguyen Tran, Tien-Dat Nguyen

10.14445/23488549/IJECE-V12I4P121

How to Cite?

Ngoc-Khoat Nguyen, Sy-Viet Ho, Duy-Thuan Vu, Duy-Trung Nguyen, Trung-Nguyen Tran, Tien-Dat Nguyen, "Study on Effective Control Strategies of a Multi-DoF Robot Arm Model: A Sliding Mode Control Method," SSRG International Journal of Electronics and Communication Engineering, vol. 12,  no. 4, pp. 215-222, 2025. Crossref, https://doi.org/10.14445/23488549/IJECE-V12I4P121

Abstract:

Robots have played a crucial role in industrial automation and control. However, they are inherently multivariable, nonlinear, and subject to uncertainties, making their control a complex challenge. Consequently, advancing control algorithms for industrial robots is a critical research imperative. This paper presents a novel sliding mode control (SMC) algorithm for a multi-degree-of-freedom robotic system, specifically a four-degree-of-freedom robotic arm. The proposed approach ensures rapid convergence, robust stability, and strong disturbance rejection, even in the presence of parameter variations and external disturbances. A key advantage of SMC lies in its ability to enforce system trajectory adherence to the desired sliding surface, thereby enhancing position and velocity control accuracy. However, a well-known limitation of traditional SMC is the chattering phenomenon, which can degrade system stability and operational efficiency. To address this issue, this study introduces an optimized controller design that effectively balances stability, disturbance rejection, and smooth dynamic response. The findings of this research contribute to the broader application of SMC in industrial robotics, offering improved performance and reliability in practical implementations.

Keywords:

4-DoF robot arm, SMC, FLC, PSO, Optimization.

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