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Robotics 2018, 7(1), 13; https://doi.org/10.3390/robotics7010013

Robust Composite High-Order Super-Twisting Sliding Mode Control of Robot Manipulators

1
Mechatronics and Robotics Lab, Iranian Institute of Advanced Science and Technology (IRAN SSP), Shiraz 7134746445, Iran
2
Department of Electrical, Electronics and Computer Engineering, University of Ulsan, Ulsan 680-479, Korea
*
Author to whom correspondence should be addressed.
Received: 22 January 2018 / Revised: 18 February 2018 / Accepted: 23 February 2018 / Published: 1 March 2018
(This article belongs to the Special Issue Intelligent Systems in Robotics)
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Abstract

This paper describes the design of a robust composite high-order super-twisting sliding mode controller (HOSTSMC) for robot manipulators. Robot manipulators are extensively used in industrial manufacturing for many complex and specialized applications. These applications require robots with nonlinear mechanical architectures, resulting in multiple control challenges in various applications. To address this issue, this paper focuses on designing a robust composite high-order super-twisting sliding mode controller by combining a higher-order super-twisting sliding mode controller as the main controller with a super-twisting higher-order sliding mode observer as unknown state measurement and uncertainty estimator in the presence of uncertainty. The proposed method adaptively improves the traditional sliding mode controller (TSMC) and the estimated state sliding mode controller (ESMC) to attenuate the chattering. The effectiveness of a HOSTSMC is tested over six degrees of freedom (DOF) using a Programmable Universal Manipulation Arm (PUMA) robot manipulator. The proposed method outperforms the TSMC and ESMC, yielding 4.9% and 2% average performance improvements in the output position root-mean-square (RMS) error and average error, respectively. View Full-Text
Keywords: multi-degree of freedom robot manipulator; high-order super-twisting sliding mode controller; super-twisting higher-order sliding mode observer; traditional sliding mode controller; estimated state sliding mode controller multi-degree of freedom robot manipulator; high-order super-twisting sliding mode controller; super-twisting higher-order sliding mode observer; traditional sliding mode controller; estimated state sliding mode controller
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Tayebi-Haghighi, S.; Piltan, F.; Kim, J.-M. Robust Composite High-Order Super-Twisting Sliding Mode Control of Robot Manipulators. Robotics 2018, 7, 13.

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