Robust tracking control for Robotic Manipulators based on Super-twisting Algorithm

2019 International Conference on Advances in Materials, Mechanical and Manufacturing

材料科学;机械制造

Javed, Muhammad Umer^1 ; Liu, Haitao^1 ; J., Nie ; J., Sun

Robotics Lab, School of Mechanical and Power Engineering, Guangdong Ocean University, Zhanjiang

524088, China^1

关键词: Chattering problems;    Continuous controller;    Industrial robotics;    Robotic manipulators;    Robust controller design;    Robust tracking control;    Sliding mode controller;    Super twisting algorithm;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/576/1/012017/pdf
DOI  :  10.1088/1757-899X/576/1/012017

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

Robotic manipulators are broadly used in industries for different kinds of specialized operational responsibilities and it is very complicated to design of a robust and stable controller for these systems. The performance of industrial robotic manipulators has augmented concerning stability and safety due to growths in robust controller design. However, designing a stable and reliable control method for a robot manipulator is important for real-world applications. This paper proposed a robust composite super-twisting sliding mode controller (STSMC) for robotic manipulators with uncertainties. To improve the robustness of robotic manipulators and reduce the chattering problem of sliding mode control, the Super-twisting algorithm is employed to design a continuous controller, and the stability is proved. Simulations on the 2-DOF robotic manipulator are shown to illustrate the effectiveness of the proposed method in which demonstrated that the proposed model has smoothness at 10-5.