Adaptive Global Super-Twisting Sliding Mode Control for Trajectory Tracking of Two-Link Flexible Manipulators

Adaptive Global Super-Twisting Sliding Mode Control for Trajectory Tracking of Two-Link Flexible Manipulators

This paper proposes a new adaptive supertwisting global sliding mode control method for the nonlinear two-link flexible manipulator’s exponentially changing trajectory tracking control. This technique consists of an adaptive super-twisting to prevent chattering and the robustness issue, a...

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Bibliographic Details
Main Authors: Kshetrimayum Lochan, Lakmal Seneviratne, Irfan Hussain
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Access
Subjects:
Two-link flexible manipulators
supertwisting
adaptive control
global sliding mode control
chaotic tracking
Online Access:https://ieeexplore.ieee.org/document/10947727/
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