Article ID Journal Published Year Pages File Type
6867025 Robotics and Autonomous Systems 2018 36 Pages PDF
Abstract
In this paper, an Optimal Super-Twisting Algorithm (OSTA) with time delay estimation is designed based on Input/Output feedback linearization for uncertain robot manipulators. The design procedure consists on three steps. Firstly, an Input/Output feedback linearization is applied to transform the nonlinear model into a linear equivalent one. Secondly, by defining a quadratic performance, an optimal sliding surface will be designed. Finally, a super-twisting algorithm with time delay estimation is proposed for high accuracy tracking trajectory. Lyapunov theory is used to prove the finite-time convergence of the sliding surface and its derivative. This structure is used to estimate unknown dynamics and to reduce the control effort and the chattering phenomenon.
Related Topics
Physical Sciences and Engineering Computer Science Artificial Intelligence
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