Abstract
This paper presents a new task-space Non-singular Terminal Super-Twisting Sliding Mode (NT-STSM) controller with adaptive gains for robust trajectory tracking of a 7-DOF robotic manipulator. The proposed approach addresses the challenges of chattering, unknown disturbances, and rotational motion tracking, making it suited for high-DOF manipulators in dexterous manipulation tasks. A rigorous boundedness proof is provided, offering gain selection guidelines for practical implementation. Simulations and hardware experiments with external disturbances demonstrate the proposed controller's robust, accurate tracking with reduced control effort under unknown disturbances compared to other NT-STSM and conventional controllers. The results demonstrated that the proposed NT-STSM controller mitigates chattering and instability in complex motions, making it a viable solution for dexterous robotic manipulations and various industrial applications.
Abstract (translated)
本文提出了一种新的任务空间非奇异终端超级扭转滑模(NT-STSM)控制器，该控制器具有自适应增益，适用于7自由度机械臂的鲁棒轨迹跟踪。所提出的方法解决了抖振、未知扰动和旋转运动跟踪等挑战，非常适合于灵巧操作任务中的高自由度机械臂。本文提供了严格的有界性证明，并为实际应用中增益的选择提供了指导原则。通过外部干扰情况下的仿真和硬件实验表明，与其它NT-STSM控制器及传统控制器相比，所提出的控制器在未知扰动条件下能够实现鲁棒、精确的跟踪并减少控制努力。实验结果表明，所提出的NT-STSM控制器有效地减轻了复杂运动中的抖振和不稳定问题，使其成为灵巧机器人操作以及各种工业应用中的一种可行解决方案。
URL
https://arxiv.org/abs/2504.13056
