文献类型：会议论文

英文题名：Robust tracking control for Robotic Manipulators based on Super-twisting Algorithm

作者：Javed, Muhammad Umer[1]; Liu, Haitao[1]; Nie, Jianhao[1]; Sun, Jian[1]

机构：[1] Robotics Lab, School of Mechanical and Power Engineering, Guangdong Ocean University, Zhanjiang, 524088, China

会议论文集：2019 International Conference on Advances in Materials, Mechanical and Manufacturing, AMMM 2019

会议日期：March 22, 2019 - March 24, 2019

会议地点：Beijing, China

语种：英文

外文关键词：Robot applications - Flexible manipulators - Modular robots - Accident prevention - Controllers

外文摘要：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. ? 2019 Published under licence by IOP Publishing Ltd.