A Hardware-in-the-Loop Simulation Case Study of High-Order Sliding Mode Control for a Flexible-Link Robotic Arm

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dc.authorid0000-0003-3588-8444
dc.contributor.authorArisoy, Aydemir
dc.contributor.authorSen, Deniz Kavala
dc.date.accessioned2026-02-08T15:15:55Z
dc.date.available2026-02-08T15:15:55Z
dc.date.issued2025
dc.departmentBursa Teknik Üniversitesi
dc.description.abstractThis 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.
dc.description.sponsorshipScientific Projects Coordination Unit of Istanbul Yeni Yuezyimath;l University
dc.description.sponsorshipThis publication was supported by the Scientific Projects Coordination Unit of Istanbul Yeni Yuezy & imath;l University.
dc.identifier.doi10.3390/app151910484
dc.identifier.issn2076-3417
dc.identifier.issue19
dc.identifier.urihttps://doi.org/10.3390/app151910484
dc.identifier.urihttps://hdl.handle.net/20.500.12885/6038
dc.identifier.volume15
dc.identifier.wosWOS:001593501700001
dc.identifier.wosqualityQ2
dc.indekslendigikaynakWeb of Science
dc.language.isoen
dc.publisherMdpi
dc.relation.ispartofApplied Sciences-Basel
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzWOS_KA_20260207
dc.subjecthardware-in-the-loop simulation
dc.subjecthigh order sliding mode control
dc.subjectflexible-link robotic arm
dc.subjectreal-time control
dc.titleA Hardware-in-the-Loop Simulation Case Study of High-Order Sliding Mode Control for a Flexible-Link Robotic Arm
dc.typeArticle

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