Design and Analysis of Adaptive Fuzzy Super-Twisting Sliding Mode Controller for Uncertain 2-DOF Robotic Manipulator

Design and Analysis of Adaptive Fuzzy Super-Twisting Sliding Mode Controller for Uncertain 2-DOF Robotic Manipulator

This paper proposes a robust adaptive fuzzy supertwisting sliding mode controller (AFST-SMC) to enhance the trajectory tracking capability of a 2-DOF robotic manipulator. The novel controller compensates for system uncertainties by adaptively adjusting control parameters based on the angular positio...

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Bibliographic Details
Main Authors: Hayleyesus Girma Dirara, Feleke Tsegaye Yareshe, Chala Merga Abdissa
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Access
Subjects:
AF-STSMC
2-DOF robotic manipulator
SMC
ST-SMC
uncertainties
Online Access:https://ieeexplore.ieee.org/document/11043144/
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