Continuous finite-time control for robotic manipulators with terminal sliding modes

Abstract

A new continuous finite-time control scheme (or trajectory-tracking problem ofrobotic manipulators is proposed using terminal sliding mode (TSM). The finite-time convergence property of TSM is applied in both the reaching phase and the sliding phase ofthe sliding mode control system. As a result; the closed-loop system is globally finite-time stable and the trajectory-tracking objective is achieved in finite time. The resulting control law is continuous therefore chattering-free. Furthermore. it overcomes the common singularity problem in TSM Theoretical analysis shows that the proposed control strategy has stronger robustness and disturbance-attenuation ability compared with the conventional boundary-layer method. Simulation results are given to illustrate the effectiveness ofthe proposed algorithm.