Super-twisting algorithm with time delay estimation for uncertain robot manipulators

2018 ◽  
Vol 93 (2) ◽  
pp. 557-569 ◽  
Author(s):  
Yassine Kali ◽  
Maarouf Saad ◽  
Khalid Benjelloun ◽  
Charles Khairallah
Keyword(s):  
Time Delay ◽  
Robot Manipulators ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Twisting Algorithm ◽  
Uncertain Robot

scholarly journals Task Space Trajectory Tracking Control of Robot Manipulators with Uncertain Kinematics and Dynamics

2017 ◽  
Vol 2017 ◽  
pp. 1-19 ◽  
Author(s):  
Xichang Liang ◽  
Yi Wan ◽  
Chengrui Zhang
Keyword(s):  
Time Delay ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Kinematics And Dynamics ◽  
Task Space ◽  
Terminal Sliding Mode ◽  
Nonsingular Terminal Sliding Mode

To improve the tracking precision of robot manipulators’ end-effector with uncertain kinematics and dynamics in the task space, a new control method is proposed. The controller is based on time delay estimation and combines with the nonsingular terminal sliding mode (NTSM) and adaptive fuzzy logic control scheme. Kinematic parameters are not exactly required with the consideration of kinematic uncertainties in the controller. No dynamic models or numerous parameters of the robot manipulator system are required with the use of TDE. Thus, the controller is simple structure and suitable for practical applications. Furthermore, errors caused by time delay estimation are compensated by the adaptive fuzzy nonsingular terminal sliding mode scheme. The simulation is performed on a 2-DOF robot manipulator with three cases in the task space. The results show that the proposed controller provides faster convergence rate and higher tracking precision than TDE based NTSM and improved TDE based NTSM controller.

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