@article{Benmansour2025, 
author = {Souhila Benmansour and Fethi Demim and Ali Zakaria Messaoui},
title = {Robust Control of Golf Swing Robot Using Backstepping Based on Fuzzy Sliding-Mode and Super-Twisting Backstepping Sliding-Mode Algorithms},
year = {2025},
journal = {Unmanned Systems},
volume = {13},
number = {2},
pages = {439-453},
keywords = {Robust control, Backstepping, fuzzy logic system, sliding mode, Super-twisting algorithm, Lyapunov stability, robustness},
url = {https://www.sciopen.com/article/10.1142/S2301385025500268},
doi = {10.1142/S2301385025500268},
abstract = {This paper focuses on trajectory tracking, robustness and stabilization of a golf swing robot which has been recently developed to simulate the ultra-high-speed swing motions of a golfer. The proposed control strategies are based on the Lyapunov stability theory and include Backstepping and Sliding-Mode Control based techniques. To attenuate the chattering phenomena caused by a discontinuous switching function and improve the dynamic response of the manipulator, a fuzzy system is used in this research; a Backstepping Sliding-Mode Controller (BSMC), a Backstepping Fuzzy Sliding-Mode Controller (BFSMC) and a Super-twisting Backstepping Sliding-Mode Controller (STBSMC) are used to evaluate the proposed hybrid controller’s BFSMC performance. The Lyapunov stability theory is used to guarantee the stability of the proposed closed-loop robot technique. Numerical simulations show the effectiveness of the proposed strategy based on the fuzzy logic mechanism under different disturbances and uncertainties.}
}