Super-twisting sliding mode based nonlinear control for planar dual arm robots

Abstract

In this paper, a super-twisting algorithm sliding mode controller is proposed for a planar dual arm robot. The control strategy for the manipulator system can effec-tively counteract chattering phenomenon happened with conventional sliding mode approach. The modeling is implemented in order to provide the capability of maneu-vering object in translational and rotational motions. The control is developed for a 2n-link robot and subsequently simulations is carried out for a 4-link system. Comparative numerical study shows that the designed controller performance with good tracking ability and smaller chattering compared with basic sliding mode controller.