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An advanced fuzzy adaptive supertwisting sliding mode control (FASTSMC) algorithm is proposed to realize the rapid convergence and continuous control of nonlinear control system. In order to enhance the robustness of the system, an arctangent terminal sliding mode surface is designed to deal with the concentrated uncertain disturbance. The supertwisting method is used to overcome the chattering problem in the control law. The fuzzy adaptive technique is used to compensate the centralized disturbance with unknown upper bound. A stiffness identification model is designed to estimate the deviation of the manipulator under external force. Finally, the feasibility of the proposed control scheme is verified by a simulation example of a 4-DOF manipulator.<\/jats:p>","DOI":"10.1155\/2022\/1822670","type":"journal-article","created":{"date-parts":[[2022,2,22]],"date-time":"2022-02-22T16:20:07Z","timestamp":1645546807000},"page":"1-14","source":"Crossref","is-referenced-by-count":2,"title":["A Novel Trajectory Tracking Control with Modified Supertwisting Sliding Mode for Human-Robot Cooperation Manipulator in Assembly Line"],"prefix":"10.1155","volume":"2022","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0897-9933","authenticated-orcid":true,"given":"Xingyu","family":"Wang","sequence":"first","affiliation":[{"name":"College of Information Science and Engineering, Northeastern University, Shenyang 110819, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9905-767X","authenticated-orcid":true,"given":"Anna","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering, Northeastern University, Shenyang 110819, China"}]},{"given":"Dazhi","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering, Northeastern University, Shenyang 110819, China"}]},{"given":"Zhen","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering, Northeastern University, Shenyang 110819, China"}]},{"given":"Yufei","family":"Qi","sequence":"additional","affiliation":[{"name":"China North Vehicle Research Institute, Beijing 100072, China"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1108\/IR-04-2021-0077"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1080\/21693277.2019.1645628"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574720001356"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2021.102127"},{"key":"5","doi-asserted-by":"crossref","DOI":"10.1109\/ICRA.2019.8793849","article-title":"A parallel low-impedance sensing approach for highly responsive physical human-robot interaction","author":"G. 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