Super-Twisting Control for trajectory tracking of a four-degree of freedom anthropomorphic robot manipulator

Abstract

This work solves the regulation and tracking trajectories tasks for four degrees of freedom anthropomorphic robot manipulators. Two controllers are considered: a Super-Twisting controller (ST) and a Proportional Derivative with dynamics compensation (PD+) control. This comparison is carried out through numeric simulation of the dynamic model in the presence of disturbances using Matlab-Simulink software. Also, the tuning procedure of each controller is shown, as well as the stability criteria used for each case. The tunning of the ST controller is done considering the effects produced by an unknown Lipschitz disturbance; this guarantees robustness against this kind of disturbance. The results of the ST controller show the rejection of the disturbance, allowing the correct trajectory tracking. An algorithm based on the inverse kinematics solution is used to generate trajectories and their interpretation in generalized coordinates corresponding to the manipulator’s joint positions obtained through the geometric approach. In addition, we show the workspace, the manipulator parameterization, and the manipulator dynamic model through the Euler-Lagrange motion equations.