INTEGRAL SLIDING MODE CONTROL FOR TRAJECTORY TRACKING CONTROL OF ROBOTIC MANIPULATORS USING AN ADAPTIVE TWISTING ALGORITHM

Anh Tuan Vo; Ngoc Hoai An Nguyen; Duy Duong Pham

doi:10.31130/ict-ud.2019.88

Anh Tuan Vo The University of Da Nang, University of Technology and Education, Vietnam
Ngoc Hoai An Nguyen The University of Da Nang, University of Technology and Education, Vietnam
Duy Duong Pham Danang

DOI: https://doi.org/10.31130/ict-ud.2019.88

Abstract

This paper proposes an integral sliding mode for trajectory tracking control of robotic manipulators. Our proposed control method is developed on the foundation of the benefits in both integral sliding mode control and adaptive twisting control algorithm, such as high robustness, high accuracy, estimation ability, and chattering elimination. In this paper, the proposed integral sliding mode controller is designed with the elimination of the reaching phase to offer better trajectory tracking precision and to stabilize the robot system. To reduce the calculation burden along with chattering rejection, an adaptive twisting controller with only one simple adaptive rule is employed to estimate the upper-boundary values of the lumped uncertainties. Accordingly, the requirement of their prior knowledge is removed and then decrease the computation complexity. Consequently, this control method provides better trajectory tracking accuracy to handle the dynamic uncertainties and external disturbances more strongly. The system global stability of the control system is guaranteed by using Lyapunov criteria. Finally, simulated examples are performed to analyze the effectiveness of our control approach for position pathway tracking control of a 2-DOF parallel manipulator.

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