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Paper ThP201.1

González-Jiménez, Luis Enrique (Centro de Investigaciones y Estudios Avanzados del IPN (CINVESTA), Loukianov, Alexander (Centro de Investigaciones y Estudios Avanzados del IPN (CINVESTA), Bayro-Corrochano, Eduardo-Jose (CINVESTAV, Unidad Guadalajara)

Fully Nested Super-Twisting Algorithm for Uncertain Robotic Manipulators

Scheduled for presentation during the Regular Sessions "Motion Control of Manipulators" (ThP201), Thursday, May 12, 2011, 15:25−15:40, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on May 23, 2019

Keywords Motion Control of Manipulators, Robust/Adaptive Control of Robotic Systems, Force Control

Abstract

A controller, based on nested sliding modes and super-twisting algorithm, is proposed for n-link robotic manipulator tracking problem. This controller has the robustness of nested sliding modes against matched and no matched perturbations and the softness of control signals of super-twisting algorithm (STA). The Nested Super-Twisting Algorithm (NSTA) allows obtaining a control law without knowing the exact model of the robotic manipulator. The application of the proposed controller in a two-link planar robot manipulator and a comparison with the Nested Sliding Mode Control (NSMC) are presented via simulation.

 

 

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