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Fuzzy Adaptive Super-Twisting Sliding Mode Asymptotic Tracking Control of Robotic Manipulators

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Abstract

In this paper, a novel fuzzy adaptive sliding mode control method is proposed for realizing the asymptotic trajectory tracking of robotic manipulators with control backlash and uncertainties. The fuzzy logic system is introduced into the sliding mode control to estimate the system uncertainties. For compensating the unknown lumped disturbance and accelerating the convergence process, an adaptive super-twisting sliding mode controller is proposed with a novel adaptive law. The system states reach the sliding mode surface in a finite time and the control effect is continuous without over-estimation and control chattering. Depending on the Lyapunov stability theory, the tracking error converges to zero in a fast-exponential form. The effectiveness of the proposed method is fully indicated by the simulation of a robotic manipulator system.

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Acknowledgements

This work is supported in part by the Natural Science Foundation of Jiangsu Province (BK20211162) and the National Natural Science Foundation of China (61873061).

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Authors and Affiliations

  1. School of Automation, Southeast University, Nanjing, 210096, Jiangsu, China

    Zeyu Li & Junyong Zhai

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  1. Zeyu Li
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Correspondence to Junyong Zhai.

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Li, Z., Zhai, J. Fuzzy Adaptive Super-Twisting Sliding Mode Asymptotic Tracking Control of Robotic Manipulators. Int. J. Fuzzy Syst. 26, 34–43 (2024). https://doi.org/10.1007/s40815-023-01573-3

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