FeedForward Super-Twisting Sliding Mode Control for Robotic Manipulators: Application to PKMs - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Journal Articles IEEE Transactions on Robotics Year : 2023

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

Abstract

This paper 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 towards 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 towards parametric variations (payload) and speed changes.
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Dates and versions

lirmm-04065695 , version 1 (12-04-2023)

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Hussein Saied, Ahmed Chemori, Mohamed Bouri, Maher El Rafei, Clovis Francis. FeedForward Super-Twisting Sliding Mode Control for Robotic Manipulators: Application to PKMs. IEEE Transactions on Robotics, 2023, 39 (4), pp.3167-3184. ⟨10.1109/TRO.2023.3255586⟩. ⟨lirmm-04065695⟩
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