A Novel Model-Based Robust Super-Twisting Sliding Mode Control of PKMs: Design and Real-Time Experiments
Hussein Saied,Ahmed Chemori,Maher El Rafei,Clovis Francis,Hussein Saied,Ahmed Chemori,Maher El Rafei,Clovis Francis
In this paper, a new robust model-based super-twisting algorithm is proposed as a control solution for parallel kinematic manipulators (PKMs). The conventional super-twisting algorithm for robot manipulators has the structure of a computed-torque control which can be sensitive to measurement noise. This issue may deteriorate the dynamic performance of the manipulator and reduce its robustness towa...
