FeedForward Super-Twisting Sliding Mode Control for Robotic Manipulators: Application to PKMs

Abstract

This article deals with the development and implementation of a novel feedforward super-twisting sliding mode controller for robotic manipulators. A full stability analysis based on a Lyapunov candidate is established showing a local asymptotic finite-time convergence of the proposed controller in the presence of upper bounded disturbances. Its robustness toward parametric uncertainties and system disturbances, thanks to the super-twisting approach, is pointed out. In addition, the feedforward dynamic term of the proposed controller that can compensate for the model nonlinearities is not sensitive to measurement noise. Real-time experiments have been conducted on two parallel manipulators: a 5-DOF SPIDER4 PKM and a 3-DOF Delta PKM. The effectiveness of the proposed controller is validated in different scenarios, including the nominal case and robustness toward parametric variations (payload) and speed changes