Adaptive Super-twisting Integral Terminal Sliding Mode Control of Manipulators

张岳; 刘振; 江保平; 高存臣

doi:10.13433/j.cnki.1003-8728.20230333

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Adaptive Super-twisting Integral Terminal Sliding Mode Control of Manipulators

更新时间：2026-04-23

- Adaptive Super-twisting Integral Terminal Sliding Mode Control of Manipulators
- Mechanical Science and Technology for Aerospace Engineering Vol. 44, Issue 9, Pages: 1514-1521(2025)
- 作者机构：
  
  1. 青岛大学机构自动化学院,山东,青岛,266071
  2. 苏州科技大学机构电子与信息工程学院,江苏,苏州,215009
  3. 中国海洋大学数学科学学院,山东,青岛,266100
- 作者简介：
- 基金信息：
- DOI：10.13433/j.cnki.1003-8728.20230333
  CLC：
- Published：2025
- 稿件说明：
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张岳, 刘振, 江保平, et al. Adaptive Super-twisting Integral Terminal Sliding Mode Control of Manipulators[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(9): 1514-1521.
DOI：

张岳, 刘振, 江保平, et al. Adaptive Super-twisting Integral Terminal Sliding Mode Control of Manipulators[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(9): 1514-1521. DOI： 10.13433/j.cnki.1003-8728.20230333.

摘要

针对n自由度不确定性刚性机械臂动力学系统，提出了一种新的自适应超螺旋积分终端滑模控制方法，以实现机械臂系统的轨迹跟踪控制。首先，给出了一种新型的积分终端滑模面设计，并基于所提出的改进变指数趋近律方案，设计了系统的自适应滑模变结构控制器，以有效地抑制系统的未知不确定性和外界扰动，并保证系统快速到达滑模面，降低系统的抖振。其次，通过构造合适的Lyapunov函数，对机械臂误差系统的收敛性进行了分析。最后，利用二自由度机械臂系统模型进行仿真实验，验证了所提出控制方法的有效性。

Abstract

A new adaptive super-twisting integral terminal sliding mode control strategy is proposed for uncertain n-degree of freedom rigid manipulator dynamics to realize trajectory tracking control. Firstly

a new integral terminal sliding mode surface design is presented

and based on the proposed improved variable exponential reaching law scheme

an adaptive sliding mode variable structure controller is designed to suppress the unknown uncertainties and external disturbance of the system effectively

further ensuring the system to reach the sliding mode surface quickly and reducing the system chattering. Secondly

the convergence of the manipulator error system is analyzed by constructing an appropriate Lyapunov function. Finally

the effectiveness of the proposed control method is verified by simulation experiments with a two-degree of freedom manipulator plant model.

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