Robust tracking control for Robotic Manipulators based on Super-twisting Algorithm

Abstract

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.