Adaptive finite‐time super‐twisting sliding mode control for robotic manipulators with control backlash
Sign Up to like & getrecommendations! Published in 2021 at "International Journal of Robust and Nonlinear Control"
DOI: 10.1002/rnc.5744
Abstract: This article aims at the problem of trajectory tracking for industrial robotic manipulators with control backlash. An arctangent terminal sliding mode surface is developed to deal with the lumped disturbance and enhance the robustness of… read more here.
Keywords: finite time; super twisting; robotic manipulators; sliding mode ... See more keywords
Impedance control based on optimal adaptive high order super twisting sliding mode for a 7-DOF lower limb exoskeleton
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DOI: 10.1007/s11012-021-01308-4
Abstract: In this paper, a novel hybrid optimal Adaptive High-Order Super Twisting Sliding Mode (AHOSTWSM) impedance control is proposed for a lower limb exoskeleton robot with 7 active joints, which takes the interaction forces between the… read more here.
Keywords: sliding mode; order; twisting sliding; limb ... See more keywords
A Novel Smooth Super-Twisting Control Method for Perturbed Nonlinear Double-Pendulum-Type Overhead Cranes
Sign Up to like & getrecommendations! Published in 2021 at "Arabian Journal for Science and Engineering"
DOI: 10.1007/s13369-021-05340-0
Abstract: The double-pendulum (DP) phenomenon, effectuated by the fact that the payload configuration and the chain length between the hook and the payload are usually unknown, is a typical issue in actual cranes. This phenomenon is… read more here.
Keywords: double pendulum; novel smooth; control; super twisting ... See more keywords
MIMO Uncertain Nonlinear System Control via Adaptive High-Order Super Twisting Sliding Mode and its Application to Robotic Manipulator
Sign Up to like & getrecommendations! Published in 2017 at "Journal of Control, Automation and Electrical Systems"
DOI: 10.1007/s40313-016-0286-7
Abstract: This paper presents a robust, continuous, finite-time convergent, adaptive, high-order super twisting sliding mode controller for a class of multi input–multi output uncertain nonlinear system and its application to robotic manipulator. The limitation on conventional… read more here.
Keywords: sliding mode; control; robotic manipulator; application ... See more keywords
Super twisting observer based full order sliding mode control
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DOI: 10.1007/s40435-021-00757-9
Abstract: In this paper, a super twisting observer-based full order sliding mode control is proposed for a non-linear uncertain system. The super twisting observer estimates an $$n{-}$$ th system state and the derivative of the $$n{-}$$… read more here.
Keywords: system; sliding mode; full order; control ... See more keywords
Adaptive super-twisting control for orbiting around irregular shape small bodies with input saturation
Sign Up to like & getrecommendations! Published in 2020 at "Aerospace Science and Technology"
DOI: 10.1016/j.ast.2020.106171
Abstract: Abstract Orbiting around a small body is challenging due to the extremely irregular gravitational field and the relatively large disturbances. To consider input saturation and reject the uncertainties and disturbances, an adaptive super-twisting (AST) control… read more here.
Keywords: input saturation; adaptive super; control; super twisting ... See more keywords
Adaptive super-twisting trajectory tracking control for an unmanned aerial vehicle under gust winds
Sign Up to like & getrecommendations! Published in 2021 at "Aerospace Science and Technology"
DOI: 10.1016/j.ast.2021.106833
Abstract: Abstract In this paper, an adaptive control strategy is investigated on trajectory tracking for an unmanned aerial vehicle with four rotors under gust winds. There exist external disturbances in horizontal positions for the reason of… read more here.
Keywords: adaptive super; gust winds; unmanned aerial; super twisting ... See more keywords
Output feedback control of a skid-steered mobile robot based on the super-twisting algorithm
Sign Up to like & getrecommendations! Published in 2017 at "Control Engineering Practice"
DOI: 10.1016/j.conengprac.2016.10.003
Abstract: Abstract This paper presents the design and implementation of an output feedback controller based on the super twisting algorithm (STA) that stabilizes the trajectory tracking error of a skid steered mobile robot (SSMR). The control… read more here.
Keywords: output feedback; control; super twisting; based super ... See more keywords
A Super-Twisting Sliding Mode Control in a Backstepping Setup for Rendezvous with a Passive Target
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DOI: 10.1016/j.ifacol.2019.11.064
Abstract: Abstract The general context of this paper is the assessment of Sliding Mode Control (SMC) techniques for rendezvous missions in space. Based on the so called block-controllable model form, a Super-Twisting SMC is proposed in… read more here.
Keywords: passive target; backstepping setup; sliding mode; super twisting ... See more keywords
Parameter preference for the continuous super-twisting-like algorithm based on H∞ norm analysis
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DOI: 10.1016/j.ifacol.2020.12.1157
Abstract: In variable structured systems, plenty of designs are built to be homogeneous. Such unperturbed homogeneous dynamics with negative homogeneous degree guarantee finite time convergence. Previous studies provide lower bounds for parameters that result in such… read more here.
Keywords: twisting like; parameter preference; continuous super; norm analysis ... See more keywords
Multivariable Adaptive Dual Layer Super-Twisting Algorithm
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DOI: 10.1016/j.ifacol.2020.12.1720
Abstract: Abstract In this paper, a novel Multivariable Adaptive Super-Twisting Algorithm is proposed. The adaptation scheme is based on a dual-layer structure and does not require the knowledge of upper bounds for the matched disturbances. By… read more here.
Keywords: multivariable adaptive; twisting algorithm; dual layer; super twisting ... See more keywords