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

Abstract

To 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.