Time Delay Estimation Based Integral Sliding Mode and Super-Twisting Control for Robust Robot Trajectory Tracking
Abstract
This paper improved trajectory tracking control strategy for robotic manipulators, combining Time Delay Control (TDC), Integral Sliding Mode (ISM), and the Super-Twisting Algorithm (TDC-IS-STA). The Time Delay Control framework provides a model-free aspect by estimation of unknown nonlinear dynamics and external disturbances using previously measured system data, while the integral sliding surface eliminates the reaching phase and ensures robustness from the initial instant of operation. To further mitigate the chattering phenomenon inherent in classical sliding mode control, the Super-Twisting Algorithm is incorporated to generate a continuous control signal while preserving finite-time convergence and robust performance. The proposed controller is validated through numerical simulations performed in MATLAB/Simulink on a parallel Delta robot model under multiple operating scenarios .Comparative study against control approaches demonstrate that the proposed TDC-IS-STA strategy achieves superior tracking accuracy, reduced chattering in the actuator torque signals .