Adaptive global super-twisting sliding mode control-based filter for trajectory synchronisation of two-link flexible manipulators

Kshetrimayum Lochan, Jay Prakash Singh, Binoy Krishna Roy and Bidhyadhar Subudhi

International Journal of Systems Science, 2020, vol. 51, issue 13, 2410-2428

Abstract: A projective synchronisation strategy is designed in this paper to synchronise a master manipulator having 12 states modelled using the assumed modes method and the slave manipulator with 8 states modelled using the lumped parameter method. The first objective is to design an adaptive SMC-based filter and the second objective is to design an adaptive global super-twisting sliding mode-based filter algorithm. In the first controller, a filter is designed to estimate the angular velocity errors of the master manipulator then for the second, a filter is designed to estimate the angular and link deflection velocity errors of the slave manipulator. Both the controller gains for the switching laws of the SMC are simultaneously updated online and super-twisting algorithm is designed to reduce the chattering problem. This approach is designed to reduce the time of reaching phase and to increase the robustness. The effectiveness and performances of the proposed controller are validated in MATLAB simulation environment and compared with a latest reported adaptive global SMC controller. The proposed scheme of synchronisation is found to be better than the existing controller.

Date: 2020
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DOI: 10.1080/00207721.2020.1795947

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