Journal of System Simulation
Abstract
Abstract: A fuzzy super-twisting second order sliding mode control method is proposed for the uncertainties of the model error and external disturbance on the trajectory tracking accuracy of robotic manipulator. Based on the dynamic model of the robotic, a new non-singular terminal sliding mode manifold is designed, and an improved super-twisting algorithm is used to design the second order sliding mode controller. In order to solve the problem that the matching disturbance can only be compensated under the condition of the known disturbance boundary in the sliding mode control, the fuzzy logic algorithm is used to carryout the online compensation for uncertainty of the system. The stability of the closed-loop control system is guaranteed by Lyapunov theory. The simulation and experiment results show that the proposed controller can track the trajectory accurately under the uncertainty of the robotic and can effectively suppress the chattering phenomenon of the system.
Recommended Citation
Du, Baolin; Zhu, Dachang; and Pan, Yihua
(2022)
"Fuzzy Super-twisting Second Order Sliding Mode Trajectory Tracking Control for Robotic Manipulator,"
Journal of System Simulation: Vol. 34:
Iss.
6, Article 17.
DOI: 10.16182/j.issn1004731x.joss.21-0066
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol34/iss6/17
First Page
1343
Revised Date
2021-03-21
DOI Link
https://doi.org/10.16182/j.issn1004731x.joss.21-0066
Last Page
1352
CLC
TP273
Recommended Citation
Baolin Du, Dachang Zhu, Yihua Pan. Fuzzy Super-twisting Second Order Sliding Mode Trajectory Tracking Control for Robotic Manipulator[J]. Journal of System Simulation, 2022, 34(6): 1343-1352.
DOI
10.16182/j.issn1004731x.joss.21-0066
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