A New Sliding Mode Control Proposal with a Clegg Integrator for a Mobile Manipulator

Pablo Proaño, Paulo Leica, Gabriela Andaluz

2025

Abstract

This article presents a novel control strategy for trajectory tracking in mobile manipulators. The proposed method combines a conventional Sliding Mode Controller (SMC) with a reset-based integrator, specifically a Clegg integrator, applied to the discontinuous component of the sliding surface. The system under study consists of a mobile platform with dynamic behavior and a robotic arm modeled kinematically. The main objective is to improve tracking performance and reduce control signal oscillations, particularly under abrupt reference changes and external disturbances. A reference trajectory with an inclined square shape is used to challenge the controller with sudden directional transitions. To evaluate the effectiveness of the proposed approach, both the classical SMC and the SMC+Clegg controllers are implemented and tested under the same conditions. The performance is analyzed using standard indices such as Integral Square Error (ISE), Integral Absolute Error (IAE), and Total Variation of the control signal (TVu). Results show that the proposed controller achieves improved trajectory tracking with reduced overshoot and chattering, while maintaining robustness to disturbances. Stability is formally demonstrated using Lyapunov theory. The positive impact of the Clegg integrator is highlighted in the discontinuous control component, allowing for reduced control effort without compromising tracking quality or disturbance rejection.

Paper Citation

in Harvard Style

Proaño P., Leica P. and Andaluz G. (2025). A New Sliding Mode Control Proposal with a Clegg Integrator for a Mobile Manipulator. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 301-308. DOI: 10.5220/0013719900003982

in Bibtex Style

@conference{icinco25,
author={Pablo Proaño and Paulo Leica and Gabriela Andaluz},
title={A New Sliding Mode Control Proposal with a Clegg Integrator for a Mobile Manipulator},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2025},
pages={301-308},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013719900003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - A New Sliding Mode Control Proposal with a Clegg Integrator for a Mobile Manipulator
SN - 978-989-758-770-2
AU - Proaño P.
AU - Leica P.
AU - Andaluz G.
PY - 2025
SP - 301
EP - 308
DO - 10.5220/0013719900003982
PB - SciTePress