Enhanced Super Twisting -based RISE Control for trajectory tracking of parallel robot

Abstract

In this work, an Enhanced Super twisting-based Robust Integral of the Sign of the Error (RISE) controller is developed and is applied to control a 4 DOF Parallel Kinematic Manipulator (PKM) called – VELOCE. The proposed controller is designed by replacing the integral term of the Super Twisting Control law (STC) by a RISE control term. The main aim of the proposed controller is to benefit from the advantages of STC and RISE control method in order to improve the trajectory tracking performances. Super Twisting Control (STC) method is a powerful tool to control uncertain and nonlinear systems. Better control performances are added to the original STC thanks to RISE control method which ensures semi-global asymptotic tracking without needing the model of the manipulator. To prove the effectiveness of the proposed controller, simulations have been conducted on a 4DOF non redundant parallel manipulator called VELOCE. By comparing the original and proposed controllers, we show on simulation results the clear improvement in trajectory following performance for the proposed controller.