Integral Nested Super-Twisting algorithm for robotic manipulators

A controller, based on integral 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, the capability of integral sliding modes to reduce the sliding functions gains, and the softness of control signals of super-twisting algorithm. The performance of the proposed algorithm is compared with integral nested sliding mode control via simulation. For this purpose, the application of both controllers in a two-link planar robot manipulator is presented.