Control of a caterpillar robot manipulator using hybrid control

In recent years, bio-inspired robots have been applied in different fields such as inspecting of oil and gas pipes, medical devices and rescue issues. Designing an excellent control algorithm for the Caterpillar robot manipulator is so difficult due to the high nonlinearity and multi-input/multi-outputs features. In addition, a fast and robust response are the most important tasks in the robot manipulator control process. In this paper existing integral terminal sliding mode control (ITSMC) approach for systems is improved by a super-twisting control (STC). Therefore, the chattering phenomena can be reduced by using the STC. This proposed controller is robust because of the combination of two controls. The desired angle of the robot has been obtained using the proposed controller. The proposed controller is compared with three other controllers such as sliding mode control (SMC), terminal sliding mode control (TSMC) and ITSMC. The numerical simulation results demonstrate that it can obtain better performance by using the proposed controller.

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