Adaptive Feedforward Super-Twisting Sliding Mode Control of Parallel Kinematic Manipulators With Real-Time Experiments - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier
Conference Papers Year : 2024

Adaptive Feedforward Super-Twisting Sliding Mode Control of Parallel Kinematic Manipulators With Real-Time Experiments

Abstract

In this paper, we propose a novel adaptive feedfor- ward super-twisting sliding mode control algorithm to resolve the tracking control problem of parallel manipulators. The proposed control scheme includes three main terms, (i) the standard super-twisting algorithm, (ii) an adaptive feedforward dynamic model, and (iii) a feedback term to ensure stability. The proposed controller provides robustness towards uncertainties and disturbances, less sensitive to measurement noise, and allows dynamic parameters adaptation of the manipulator while executing a certain task. Real-time experiments are conducted on a 3-DOF non-redundant Delta parallel robot, including two main scenarios, (i) nominal case, and (ii) robustness towards operating acceleration changes. The relevance of the proposed controller is verified experimentally in both scenarios and compared with two other controllers from the literature, including the standard and the feedforward super-twisting sliding mode control algorithms.
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Dates and versions

lirmm-04661496 , version 1 (24-07-2024)

Identifiers

  • HAL Id : lirmm-04661496 , version 1

Cite

Hussein Saied, Ahmed Chemori, Mohamed Bouri, Maher El Rafei, Clovis Francis. Adaptive Feedforward Super-Twisting Sliding Mode Control of Parallel Kinematic Manipulators With Real-Time Experiments. IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2024, Abu Dhabi, United Arab Emirates. ⟨lirmm-04661496⟩
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