Mien, Van, Kang, H. J. and Shin, K. S. (2014) Novel quasi-continuous super-twisting high-order sliding mode controllers for output feedback tracking control of robot manipulators. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 228 (17). pp. 3240-3257. 0954406214526828. doi:10.1177/0954406214526828 ISSN 0954-4062.

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Abstract

In this paper, a robust output feedback tracking control scheme for uncertain robot manipulators with only position measurements is investigated. First, a quasi-continuous second-order sliding mode (QC2S)-based exact differentiator and super-twisting second-order sliding mode (STW2S) controllers are designed to guarantee finite time convergence. Although the QC2S produces continuous control and less chattering than that of a conventional sliding mode controller and other high-order sliding mode controllers, a large amount of chattering exists when the sliding manifold is defined by the equation Formula . To decrease the chattering, an uncertainty observer is used to compensate for the uncertainty effects, and this controller may possess a smaller switching gain. Compared to the QC2S controller, the STW2S has less chattering and tracking error when the system remains on the sliding manifold Formula . Therefore, to further eliminate the chattering and obtain a faster transient response and higher tracking precision, we develop a quasi-continuous super-twisting second-order sliding mode controller, which integrates both the merits of QC2S and STW2S controllers. The stability and convergence of the proposed scheme are theoretically demonstrated. Finally, computer simulation results for a PUMA560 robot comparing with conventional QC2S and STW2S controllers are shown to verify the effectiveness of the proposed algorithm.

Item Type:	Journal Article
Divisions:	Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group)
Journal or Publication Title:	Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Publisher:	Sage Publications Ltd.
ISSN:	0954-4062
Official Date:	12 December 2014
Dates:	Date Event 12 December 2014 Published 13 March 2014 Available 10 August 2013 Accepted 21 May 2013 Submitted
Volume:	228
Number:	17
Page Range:	pp. 3240-3257
Article Number:	0954406214526828
DOI:	10.1177/0954406214526828
Status:	Peer Reviewed
Publication Status:	Published

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