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    A Hardware-in-the-Loop Simulation Case Study of High-Order Sliding Mode Control for a Flexible-Link Robotic Arm
    (Mdpi, 2025) Arisoy, Aydemir; Sen, Deniz Kavala
    This paper presents a hardware-in-the-loop (HIL) simulation case study on the application of High-Order Sliding Mode Control (HOSMC) to a flexible-link robotic arm. The developed HIL platform combines physical hardware components with a simulated plant model, enabling real-time testing of control algorithms under realistic operating conditions without requiring a full-scale prototype. HOSMC, an advanced nonlinear control strategy, mitigates the chattering effects inherent in conventional sliding mode control by driving the system to a reduced-order sliding manifold within a finite time, resulting in smoother actuator commands and reduced mechanical stress. Flexible-link arms, while lightweight and energy-efficient, are inherently nonlinear and prone to vibration, posing significant control challenges. In this case study, the experimental HIL environment is used to evaluate HOSMC performance, demonstrating improved trajectory tracking, reduced overshoot, and minimized steady-state error. The results confirm that HIL simulation offers an effective bridge between theoretical control design and practical implementation for advanced robotic systems.
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    Real-Time Tracking and Position Control of an Elastic Cable-Driven Winch System
    (Mdpi, 2025) Sen, Deniz Kavala; Arisoy, Aydemir; Gokdag, Hakan
    This study explores the sliding mode control (SMC) strategy to address challenges such as nonlinear dynamics, steady-state errors, and torque fluctuations in elastic cable-driven winch systems. While traditional Proportional-Derivative (PD) control is sufficient for linear systems, it struggles with instability and accuracy issues in flexible systems. SMC provides robustness against uncertainties but can cause mechanical wear and performance degradation due to its chattering effect. To mitigate this, a continuous control signal-based SMC approach was adopted, reducing chattering and improving system stability. This study focuses on tracking and position control, as well as managing motor torque fluctuations during position control, emphasizing controller parameter optimization. Experimental results demonstrate that SMC outperforms PD control in tracking, position control, and torque management.