Saied, HusseinChemori, AhmedBouri, MohamedEl Rafei, MaherFrancis, Clovis2023-05-082023-05-082023-05-082023-04-1110.1109/TRO.2023.3255586https://infoscience.epfl.ch/handle/20.500.14299/197481WOS:000973352800001This article deals with the development and implementation of a novel feedforward super-twisting sliding mode controller for robotic manipulators. A full stability analysis based on a Lyapunov candidate is established showing a local asymptotic finite-time convergence of the proposed controller in the presence of upper bounded disturbances. Its robustness toward parametric uncertainties and system disturbances, thanks to the super-twisting approach, is pointed out. In addition, the feedforward dynamic term of the proposed controller that can compensate for the model nonlinearities is not sensitive to measurement noise. Real-time experiments have been conducted on two parallel manipulators: a 5-DOF SPIDER4 PKM and a 3-DOF Delta PKM. The effectiveness of the proposed controller is validated in different scenarios, including the nominal case and robustness toward parametric variations (payload) and speed changesRoboticsRoboticsrobotsheuristic algorithmscontrol systemsuncertaintymanipulator dynamicsstability analysisreal-time systemsfeedforward dynamicsparallel robotsrobotic manipulatorssliding mode control (smc)super-twisting smcparallel manipulatorsadaptive-controltrackingdesignalgorithmdynamicstext::journal::journal article::research article