Robust Control of Golf Swing Robot Using Backstepping Based on Fuzzy Sliding-Mode and Super-Twisting Backstepping Sliding-Mode Algorithms.

This article presents the development and comparative evaluation of robust control strategies for a two-degree-of-freedom golf swing robot designed to simulate ultra-high-speed golfer motions. The study focuses on three nonlinear control methods based on Backstepping and Sliding-Mode Control (SMC): a conventional Backstepping Sliding-Mode Controller (BSMC) using a discontinuous sign function, a Backstepping Fuzzy Sliding-Mode Controller (BFSMC) that replaces the sign function with a fuzzy logic system to reduce chattering, and a Super-twisting Backstepping Sliding-Mode Controller (STBSMC) employing a higher-order sliding mode algorithm. Stability of each controller is established via Lyapunov theory, and numerical simulations under disturbances and parameter uncertainties demonstrate that BFSMC effectively eliminates chattering while maintaining high tracking accuracy and robustness, outperforming BSMC and showing advantages over STBSMC in chattering reduction. The paper concludes with plans for experimental validation and further exploration of higher-order sliding mode and fuzzy/adaptive control combinations to enhance performance and chattering mitigation.