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Summary
This summary is machine-generated.

This study introduces a fixed-time super-twisting sliding mode control (ST-SMC) for robotic arms, ensuring faster, bounded convergence and reduced chattering. The novel strategy achieves high-precision tracking, enhancing robotic system performance.

Keywords:
finite time controlfixed-time controlimmersion and invariant disturbance observermanipulatorssuper-twisting sliding mode control (STSMC)

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Applied Mathematics

Background:

  • Traditional sliding mode control (SMC) suffers from chattering and uncontrollable convergence times.
  • Uncertain robotic arm systems require robust control strategies for precise trajectory tracking.

Purpose of the Study:

  • To develop a novel fixed-time super-twisting sliding mode control (ST-SMC) strategy for uncertain robotic arm systems.
  • To address chattering and establish a bounded convergence time for robotic arm control.
  • To enhance robustness and achieve high-precision tracking.

Main Methods:

  • Constructed a sliding surface with fixed-time convergence characteristics.
  • Designed an immersion and invariance (I&I) disturbance observer for real-time estimation of disturbances.
  • Developed a new ST-SMC controller based on the disturbance observer for global fixed-time convergence.

Main Results:

  • Achieved fixed-time convergence of tracking errors regardless of initial conditions.
  • Effectively eliminated control torque chattering.
  • Attained a high tracking error accuracy of 2 × 10-9.

Conclusions:

  • The proposed ST-SMC strategy ensures fixed-time convergence and suppresses chattering in uncertain robotic arms.
  • The method demonstrates applicability and robustness for high-precision robotic systems.
  • Explicitly bounded convergence time enhances predictability and reliability in robotic control.