Fully nested super-twisting algorithm for uncertain robotic manipulators

Author

Gonzàlez-Jiménez, Luis Enrique ; Loukianov, Alexander ; Bayro-Corrochano, Eduardo

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., CINVESTAV, Zapopan, Mexico

fYear

2011

fDate

9-13 May 2011

Firstpage

5807

Lastpage

5812

Abstract

A controller, based on nested sliding modes and super-twisting algorithm, is proposed for n-link robotic manipulator tracking problem. This controller has the robustness of nested sliding modes against matched and no matched perturbations and the softness of control signals of super-twisting algorithm (STA). The Nested Super-Twisting Algorithm (NSTA) allows obtaining a control law without knowing the exact model of the robotic manipulator. The application of the proposed controller in a two-link planar robot manipulator and a comparison with the Nested Sliding Mode Control (NSMC) are presented via simulation.

Keywords

manipulators; robust control; uncertain systems; variable structure systems; control law; fully nested super-twisting algorithm; n-link robotic manipulator tracking problem; nested sliding mode control; robustness; two-link planar robot manipulator; uncertain robotic manipulator; Algorithm design and analysis; Joints; Manipulator dynamics; Solids; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5979575

Filename

5979575