Thanh-Khang Tran ¹, Quang–Thien Nguyen ¹, Duc-Anh-Quan Nguyen ², Xuan-Dung Huynh ³, Dinh-Phu Nguyen ¹, Thi-Bich-Nga Truong ¹, Nguyen-Phuong-Thao Do ¹, Anh-Huy Nguyen ²*

¹Ho Chi Minh City University of Technology and Education (HCMUTE), Ho Chi Minh City (HCMC), Vietnam
Vo Van Ngan Str., No. 01, HCMC, Vietnam
²Ho Chi Minh City University of Technology (HCMUT), HCMC, Viet Nam
No. 268, Ly Thuong Kiet Str. HCMC, Vietnam
³ Cao Thang Technical College
Huynh Thuc Khang Str., No. 65, HCMC, Vietnam
* Corresponding author. E-mail: huy.nguyen141@hcmut.edu.vn

Robotica & Management, Vol. 30, No. 1, pp. 32-37
DOI: https://doi.org/10.24193/rm.2025.1.5

Abstract: This study integrates varying‐load estimation with hierarchical sliding‐mode control (HSMC) for a Pendubot using a swarm‐intelligence algorithm. A nonlinear Pendubot model with static load parameters is optimized to minimize estimation error, and the resulting estimates inform an HSMC scheme that compensates disturbances and uncertainties—simulations show marked improvements in stability, accuracy, and control efficiency.

Keywords: Pendubot, Sliding Mode Control (SMC), Trajectory Tracking, Particle Swarm Optimization (PSO).

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