During my time at the Max Planck Institute for Biological Cybernetics I worked on the application of sliding mode controllers, and particularly of the Adaptive Super Twisting Controller from Shtessel et al. (2012), both to cable-driven parallel robots and UAVs. What is remarkable about this method is that:
- it considers all the uncertainties (parametric, model,disturbances) lumped together;
- it does not require the knowledge of the upper bound ofthe uncertainties;
- rather than adapting the parameters of the model, it adapts the gains;
- it uses a feedforward dynamic inversion (FF) to reduce the discontinuous control, thus improving performance and further reducing chattering.
- Book ChapterApplication of a Differentiator-Based Adaptive Super-Twisting Controller for a Redundant Cable-Driven Parallel RobotIn Cable-Driven Parallel Robots 2018
- Conference Proc.Adaptive Super Twisting Controller for a quadrotor UAVIn 2016 IEEE International Conference on Robotics and Automation (ICRA) 2016
- Conference Proc.Robust adaptive sliding mode control of a redundant cable driven parallel robotIn 2015 19th International Conference on System Theory, Control and Computing (ICSTCC) 2015