Title :
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
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;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5979575
