Global robust super-twisting algorithm with adaptive switching gains for a hybrid robot

摘要

To improve the robustness performance of dynamic sliding mode control to the time-varying uncertainties without the upper bound information in a hybrid robot system, a global robust super-twisting algorithm with adaptive switching gains is proposed. The main contributions are as follows: (1) for the problem that the robustness of the sliding mode control system is not guaranteed in the reaching phase, a global robust sliding surface is designed to eliminate the reaching phase of the sliding mode control; (2) for the chattering problem existing in the sliding phase of the sliding mode control system due to the conservative selection of switching gains, based on a reconstructive super-twisting sliding mode control and the equivalent principle, a fast-adaptive law is designed to effectively reduce the chattering while the global robustness is ensured. The stability of the proposed algorithm is proved by Lyapunov stability theorem. The simulation and experiment on the hybrid robot prototype system are implemented to verify the effectiveness of the proposed control method.