A Study on an Adaptive Super-Twisting Sliding Mode Control Design with Perturbation Estimation

Abstract

In this article, the adaptive super-twisting sliding mode control is designed and applied for three degrees of freedom robot with unknown perturbation model of the system. This method combines an advanced property of adaptive law and the high order super-twisting sliding mode control to enhance the sliding manifold surface which can reach the equilibrium point in the shorter time. Likewise, the stability and estimation of the unknown perturbations of the controlled system are satisfied by Lyapunov stability theory and Moreno