A Novel Trajectory Tracking Control with Modified Supertwisting Sliding Mode for Human-Robot Cooperation Manipulator in Assembly Line

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Control scheme</td><td class="align_center">Processing time (s)</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">Sliding mode control</td><td class="align_center">2.230</td></tr><tr><td class="align_left">Supertwisting sliding mode control</td><td class="align_center">2.520</td></tr><tr><td class="align_left">Quantum-interference artificial neural network</td><td class="align_center">132.565</td></tr><tr><td class="align_left">FASTSMC (proposed in this paper)</td><td class="align_center">7.372</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Comparison of processing time of control schemes.</div>

Journal of Sensors

tab2

Table 2

Table 2: A Novel Trajectory Tracking Control with Modified Supertwisting Sliding Mode for Human-Robot Cooperation Manipulator in Assembly Line 