FeedForward Super-Twisting Sliding Mode Control for Robotic Manipulators: Application to PKMs

被引：8

作者：

Saied, Hussein ^{[1
]}

Chemori, Ahmed ^{[1
,2
]}

Bouri, Mohamed ^{[3
]}

El Rafei, Maher ^{[2
]}

Francis, Clovis ^{[4
]}

机构：

[1] Univ Montpellier, LIRMM, CNRS, F-34090 Montpellier, France

[2] Lebanese Univ, Fac Engn, CRSI, Beirut 1000, Lebanon

[3] Ecole Polytech Fed Lausanne, CH-1015 Lausanne, Switzerland

[4] Arts & Metiers ParisTech, F-51000 Chalons Sur Marne, France

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2023年 / 39卷 / 04期

关键词：

Robots; Heuristic algorithms; Control systems; Uncertainty; Manipulator dynamics; Stability analysis; Real-time systems; Feedforward dynamics; parallel robots; robotic manipulators; sliding mode control (SMC); super-twisting SMC; PARALLEL MANIPULATORS; ADAPTIVE-CONTROL; TRACKING; DESIGN; ALGORITHM; DYNAMICS;

D O I：

10.1109/TRO.2023.3255586

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This article deals with the development and implementation of a novel feedforward super-twisting sliding mode controller for robotic manipulators. A full stability analysis based on a Lyapunov candidate is established showing a local asymptotic finite-time convergence of the proposed controller in the presence of upper bounded disturbances. Its robustness toward parametric uncertainties and system disturbances, thanks to the super-twisting approach, is pointed out. In addition, the feedforward dynamic term of the proposed controller that can compensate for the model nonlinearities is not sensitive to measurement noise. Real-time experiments have been conducted on two parallel manipulators: a 5-DOF SPIDER4 PKM and a 3-DOF Delta PKM. The effectiveness of the proposed controller is validated in different scenarios, including the nominal case and robustness toward parametric variations (payload) and speed changes

引用

页码：3167 / 3184

页数：18

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