Robust Control with Optimal Integral Sliding Mode Controller for the Uncertain Flexible Joint Robot

Robust Control with Optimal Integral Sliding Mode Controller for the Uncertain Flexible Joint Robot | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Robust Control with Optimal Integral Sliding Mode Controller for the Uncertain Flexible Joint Robot Irfan Ali, Mohsan Hassan, Zarqa Bano This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4277131/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract This study introduces a novel robust optimal control design for a flexible joint robot manipulator. The proposed control design combines robust optimal control (ROC) and robust optimal integral sliding mode control (ROISMC), transforming the robust control problem into an optimal control problem for both matched and mismatched unknown functions, as demonstrated through the Lyapunov function. The validity of both schemes is established through comparison with the desired results of flexible joint angle and rotor joint angle and velocity. It is found that their results are accurately alignment with the desired trajectory, even in the presence of mismatched functions. ROC ROISMC Robot Manipulato Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-4277131","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":293057638,"identity":"94c0a89e-2ab3-4d8a-af78-873c1866ef45","order_by":0,"name":"Irfan Ali","email":"","orcid":"","institution":"Sukkur IBA University","correspondingAuthor":false,"prefix":"","firstName":"Irfan","middleName":"","lastName":"Ali","suffix":""},{"id":293057639,"identity":"0a7d5f35-5004-4119-bd6c-1b04c83b76f5","order_by":1,"name":"Mohsan Hassan","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABLElEQVRIiWNgGAWjYFACHjCZAOFUMDCwsTOwQaVAggcIaTkD1MJMkhbGNiBBSItue+/hDz93MOTx9x9/+Llwnl1iHzPzswcf99gw8LPnGDAXnMHQYnbmXJpk7xmGYokbOcbSM7clJ7Yxs5kbzniWxiDZ88aAecYNTC03cswYeNsYEhtu8DBI8247ANTCYCbNc+Awg8ENoC08H7BpMf74F6hl/vnjj3/zzgFpYf8G1PKfwR63FgNpkC0bDiSYSfM2gLTwgGw5wGAgAdKCxWFnzphJy7ZJJG4EutCa51iyMVBLmeSMA8k8EmeeFRyegcX7x3uMP75ts0mcB3TYbZ4aO9n57e3bJD4csJPjb0/e+LjgGIYWKJDAFALH12FcGnADZtK1jIJRMApGwfADANWMbCAMg7pOAAAAAElFTkSuQmCC","orcid":"","institution":"COMSATS University Islamabad","correspondingAuthor":true,"prefix":"","firstName":"Mohsan","middleName":"","lastName":"Hassan","suffix":""},{"id":293057640,"identity":"cd270a37-2d3d-404a-9d5d-c43cb0ad18f3","order_by":2,"name":"Zarqa Bano","email":"","orcid":"","institution":"Sukkur IBA University","correspondingAuthor":false,"prefix":"","firstName":"Zarqa","middleName":"","lastName":"Bano","suffix":""}],"badges":[],"createdAt":"2024-04-16 15:44:24","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-4277131/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-4277131/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":55591493,"identity":"7ea1f1a3-adde-4fbe-8207-b0efefa2a363","added_by":"auto","created_at":"2024-04-30 09:39:50","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":489931,"visible":true,"origin":"","legend":"","description":"","filename":"Manuscript.pdf","url":"https://assets-eu.researchsquare.com/files/rs-4277131/v1_covered_99687951-4baa-4d69-b873-be4fdb7deb78.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Robust Control with Optimal Integral Sliding Mode Controller for the Uncertain Flexible Joint Robot","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"ROC, ROISMC, Robot Manipulato","lastPublishedDoi":"10.21203/rs.3.rs-4277131/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-4277131/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"This study introduces a novel robust optimal control design for a flexible joint robot manipulator. 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