Abstract
ABSTRACT In this paper, an adaptive super twisting high order sliding mode controller observer is investigated for multi input–multi output uncertain system, with application to robotic manipulator based only on position measurement. First, a type-2 Takagi–Sugeno fuzzy system is used to model the original system. Next, by combining thefuzzy model with third order sliding mode observer, a novel fuzzy observer is designed to estimate both the joint velocities and uncertainties. Moreover, based on super twisting algorithm the proposed controller generates a smooth control signal and guarantees the finite time stabilisation of second order sliding mode. The controller gains are generated based on adaptive estimation scheme, in which the gains overestimation problem and the prior knowledge of the upper boundaries of uncertainties can be avoided. The stability of proposed controller/ observer scheme is discussed using Lyapunov approach. Finally, the obtained simulation results for two link robot manipulator demonstrate the effectiveness of the proposed controller.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
