Data-driven observer-based model-free adaptive discrete-time terminal sliding mode control of rigid robot manipulators

Babak Esmaeili, Mina Salim, Mahdi Baradarannia, Ali Farzamnia

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Citations (Scopus)


This paper aims to design a data-driven observer-based model-free adaptive terminal sliding mode controller for rigid robot manipulators whose models are unknown in advance. First, the nonlinear robot manipulator dynamics are transformed to an equivalent linear discrete-time data-model using full-form dynamic linearization technique and multi-observers along with an adaptation law are designed in order to estimate system outputs and pseudo-partitioned Jacobian matrix, respectively. Second, based on a nonlinear data-driven terminal sliding surface, the robust discrete-time controller is obtained. Mathematical analysis guarantees the finite-time convergence and the stability of the closed-loop system. The comparative simulations lighten the superiority of the proposed work and the robustness of the proposed controller against external disturbances is validated by means of simulations.

Original languageEnglish
Title of host publicationICRoM 2019 - 7th International Conference on Robotics and Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)9781728166049
ISBN (Print)9781728166056
Publication statusPublished - 20 Apr 2020
Externally publishedYes
Event7th International Conference on Robotics and Mechatronics - Tehran, Iran, Islamic Republic of
Duration: 20 Nov 201921 Nov 2019
Conference number: 7

Publication series

NameInternational Conference on Robotics and Mechatronics
ISSN (Print)2377-679X
ISSN (Electronic)2572-6889


Conference7th International Conference on Robotics and Mechatronics
Abbreviated titleICRoM 2019
Country/TerritoryIran, Islamic Republic of

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