Trajectory tracking of robot manipulator with adaptive fuzzy second-order super-twisting sliding mode control

Abstract

AbstractTo solve the influence of uncertainties such as unmodeled errors and external disturbances on the trajectory tracking accuracy of the end-effector of a robot manipulator, a novel fuzzy super-twisting second-order sliding mode control method is proposed in this paper. Based on the dynamic model of the robot manipulator, a second-order sliding mode control algorithm is proposed by using the super-twisting to determine the non-singular terminal sliding manifold. An adaptive fuzzy algorithm is presented to compensate for the super-twisting second-order sliding mode control system for handling the chattering and overestimating the controller gains. The stability of the proposed controller is verified by the Lyapunov stability theory. Simulation and experimental results show that the proposed control method can enable the robot to track the trajectory accurately under complex and uncertain conditions and effectively suppress the chattering phenomenon of the system.Keywords: Robot manipulatortrajectory trackingadaptive fuzzy super-twisting algorithmsecond-order sliding mode control Disclosure statementNo potential conflict of interest was reported by the author(s).Additional informationFundingThe author would like to express his gratitude for the support of the University Scientific Research Project of Education Bureau of Guangzhou Municipality under Grant 202032821 and the Guangzhou City School Joint Project under Grant SL2023A03J00681.Notes on contributorsDachang ZhuDachang Zhu received the B.S. degree in mechanics design and the M.S. degree in theoretical mechanics from the Jiangxi University of Technology and Science, Ganzhou, China, in 1996 and 1999, respectively, the Ph.D. degree in mechanical engineering from Beijing Jiaotong University, Beijing, China, in 2008, and the Postdoctor in mechanical engineering from the South China University of Technology, Guangzhou, China, in 2012. He currently works as full professor with the School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China. His research interests include topology optimization theory and applications in compliant mechanisms, robotics, and feedback control of the dynamic systems.Puchen ZhuPuchen Zhu received his Bachelor's degree in Engineering from Guangdong University of Technology, Guangzhou, China. he is currently a Master of Philosophy student at the Mechanical and Automation Engineering department at the Chinese University of HongKong (CUHK). his research interests include Robotics, Medical Robotics, and Robotic Modeling and Control.Yonglong HeYonglong He is a student pursuing a master's degress in Mechanical Engineering from the School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou, China. his research interests include Robotics, Compliant mechanism.