Terminal Sliding Mode Control for Robotic Manipulator Based on Combined Reaching Law

Abstract

A new sliding mode controller is designed in this paper to improve the trajectory tracking performance of robotic manipulator. A combined reaching law is proposed to balance the reaching speed and chattering reduction in the reaching phase, the terminal sliding surface is introduced to improve the convergence rate in the sliding phase. Then the new sliding mode controller is designed based on the combined reaching law and the terminal sliding surface. Simulation results verify the performance of the control law.