Super-twisting algorithm with time delay estimation for uncertain robot manipulators

This paper proposes a super-twisting algorithm (STA) with time delay estimation (TDE) for the problem of high-accuracy tracking trajectory of robotic manipulators in the presence of uncertainties and unexpected disturbances. The TDE method is known for it capability to estimate uncertainties simply without an exact knowledge of the system dynamics. Using the estimated uncertainties, the control law is then designed based on STA to ensure robustness, finite-time convergence and chattering reduction. The stability analysis of the closed-loop system and the finite-time convergence are proved using Lyapunov theory. In order to show the effectiveness of the proposed method, simulations and experimental results were carried out on a 2-DOF rigid robot manipulator and on the 7-DOF ANAT robot arm, respectively.