Robust tracking control for Robotic Manipulators based on Super-twisting Algorithm

Javed, Muhammad Umer; Liu, Haitao; Nie, Jianhao; Sun, Jian

doi:10.1088/1757-899x/576/1/012017

Cited by 1 publication

(1 citation statement)

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“…However, some challenges of this controller include a long convergence time, a rigid design, the need for high computational power, and the chattering phenomenon caused by the “sign” function in the control signal [4, 5]. The chattering phenomenon is hazardous to physical systems due to its high-frequency oscillations [6]. There are several strategies to cope with these problems, such as using super-twisting integral sliding mode control [7].…”

Section: Introductionmentioning

confidence: 99%

Trajectory tracking control of an underwater vehicle in the presence of disturbance, measurement errors, and actuator dynamic and nonlinearity

2023

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Underwater vehicles are rich systems with attractive and challenging properties such as nonlinearities, external disturbances, and underactuated dynamics. These make the design of an advanced and robust controller quite a challenging task. This paper focuses on designing a model-free high-order sliding mode controller in a six-degree-of-freedom trajectory tracking task. The purpose of the control is accurate trajectory tracking and considerably reducing the chattering phenomenon in situations where the remotely operated vehicle (ROV) works in the presence of external disturbances, measurement errors, and actuator dynamics and nonlinearity, which is not seen in previous research. To demonstrate the stability of the closed-loop system, the Lyapunov theory is employed to ensure the asymptotic stability of tracking errors. A linear Kalman filter for estimating measurement errors is proposed to be used to correct positioning system outputs (speed, position, and attitude). In a hardware-in-the-loop test, the proposed controller for the ROV is tested in a real-time application, considering external disturbances, measurement errors, and actual thrusters. In addition, comparing the outcomes with the performance of the PID controller and the supper twisting controller shows the superiority of the proposed controller. Due to the existence of the measurement noise, spectrum analysis is also performed.

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