Design of Super Twisting Integral Sliding Mode Control for Industrial Robot Manipulator


  • Shankar J Gambhire Koneru Lakshmaiah Education Foundation, Vaddeswaram, Guntur, AP 522302, India. Faculty with ECE, MIT School of Engineering & Sciences, MIT ADT University, Pune(MH), India.
  • D Ravi Kishore Godavari institute of engineering and technology, EEE, Rajahmundry, AP 533296. India.
  • Malligunta Kiran Kumar Koneru Lakshmaiah Education Foundation, EEE, Vaddeswaram, Guntur, AP 522302, India.
  • Sushant N Pawar Ramrao Adik Institute of Technoloy, Navi Mumbai, Maharashtra, India.



Sliding mode control (SMC), Non-singularity, Super twisting control (STM), Industrial robotic manipulator (IRM)


In the present work, integral sliding mode based continuous control algorithm is extended to multi input multi output system. The typical integral sliding mode control (ISMC) contains nominal control with discontinuous feedback control due to which overall control becomes discontinuous in nature. The proposed controller is a fusion of two continuous terms and one of which is able to handle, estimate and reject the disturbance successfully. A proposed robust ISMC technique is applied for industrial robot manipulators which utilizes interactive manipulation activity. Here, robust position tracking control obtained via ISMC principle for two link IRM scheme influenced by parametric uncertainties and external disturbances. The proposed ISMC design replaces the discontinuous part by continuous control, which super twisting control is able to handle the disturbance rejection completely. The effectiveness of the proposed control technique is tested under uncertain conditions and comparison study with other controllers has been done. The simulation result shows that the tracking error is effectively minimized by the proposed technique in presence of uncertain conditions.






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