Novel quasi-continuous super-twisting high-order sliding mode controllers for output feedback tracking control of robot manipulators
- Authors
- Van, Mien; Kang, Hee-Jun; Shin, Kyoo-Sik
- Issue Date
- Dec-2014
- Publisher
- SAGE PUBLICATIONS LTD
- Keywords
- Robot manipulators; output feedback tracking control; quasi-continuous high-order sliding mode; observer-controller; and super-twisting second-order sliding mode controller
- Citation
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, v.228, no.17, pp.3240 - 3257
- Indexed
- SCIE
SCOPUS
- Journal Title
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
- Volume
- 228
- Number
- 17
- Start Page
- 3240
- End Page
- 3257
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/21103
- DOI
- 10.1177/0954406214526828
- ISSN
- 0954-4062
- Abstract
- In this paper, a robust output feedback tracking control scheme for uncertain robot manipulators with only position measurements is investigated. First, a quasi-continuous second-order sliding mode (QC2S)-based exact differentiator and super-twisting second-order sliding mode (STW2S) controllers are designed to guarantee finite time convergence. Although the QC2S produces continuous control and less chattering than that of a conventional sliding mode controller and other high-order sliding mode controllers, a large amount of chattering exists when the sliding manifold is defined by the equation s = s = 0. To decrease the chattering, an uncertainty observer is used to compensate for the uncertainty effects, and this controller may possess a smaller switching gain. Compared to the QC2S controller, the STW2S has less chattering and tracking error when the system remains on the sliding manifold s = s = 0. Therefore, to further eliminate the chattering and obtain a faster transient response and higher tracking precision, we develop a quasi-continuous super-twisting second-order sliding mode controller, which integrates both the merits of QC2S and STW2S controllers. The stability and convergence of the proposed scheme are theoretically demonstrated. Finally, computer simulation results for a PUMA560 robot comparing with conventional QC2S and STW2S controllers are shown to verify the effectiveness of the proposed algorithm.
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Collections - COLLEGE OF ENGINEERING SCIENCES > DEPARTMENT OF ROBOT ENGINEERING > 1. Journal Articles
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