Adaptive Super-Twisting Control of 2-DOF Robotic Manipulator Using Self-Tuning Gain Parameters

This paper considers the tracking problem for a class of non-linear systems with uncertainty in its parameters. It uses Super-Twisting Algorithm to achieve the desired position trajectory in finite time by designing a robust control law. The tuning of gain parameters have been simplified using adaptive laws utilizing the upper bound of uncertainties. It has advantages over the conventional Sliding Mode Control laws which use fixed values of the gain parameters resulting into their overestimation. Lyapunov approach is utilized to prove the stability. The technique is used for designing a robust control law for 2-DOF (Degrees-of-Freedom) Robotic Manipulator. It addresses the difficulties caused by the non-linear dynamics, parametric uncertainties and external disturbances which are frequently encountered when operating such class of systems. Simulation results show improvement of the Adaptive Super-Twisting Control over the conventional Sliding Mode Control illustrating the effectiveness of the technique.