Research On Robust Tracking Control For Robotic Manipulators Based On Super-Twisting Algorithm

In the last few decades,robot system becomes the most important part of industries for different kinds of responsibilities.Robots are used where we need more precision in less time.Mechanical equipment automation and the automatic production line is the inevitable trend of modern industrial processing and manufacturing industry.The future factory robot will liberate human beings from the monotonous manual labor.Robot systems become the most essential part of industries such as manufacturing of auto vehicles,welding,moving parts from one place to another and the places where a human being cannot go like high temperature.For these reasons,in order to improve the tracking precision and robustness,some tracking control methods for robotic manipulators are proposed.Firstly,a sliding mode controller is proposed to show good robustness,but the inevitable “chattering” phenomena may create unmodeled dynamic,which may break the physical systems.To prevent this drawback,the super-twisting algorithm will be implemented.Trajectory tracking time of the super-twisting algorithm is very less but there is also a drawback which shows overshooting in start time.To prevent this drawback,a new proposed fast super-twisting algorithm is proposed.This method shows the best result in trajectory tracking as well as in time.Stability of all the methods proved by Lyapunov stability law.To Illustrate the effectiveness of the proposed method,two links robotic arm platform is selected for experiments.The FPGA cotntroller is designed based on LabVIEW software,which show easy programming,and good real-time.The experiments are shown that the proposed methods have a good trajectory tracking performance and trakcing error is not more than 0.005 radian.