A Finite Time Tracking Control for Manipulators Using New Adaptive Fast Terminal Sliding Mode Surface

Abstract

This paper presents a finite-time control scheme that is introduced via a new adaptive fast terminal sliding mode control method for 3-DOF robot manipulators that eliminates uncertainties effect on the robot and improves the convergence rate. In addition, a super-twisting algorithm is applied to mitigate chattering in the output robot trajectory and control signal of the controller. The result of the proposed control algorithm ensures finite-time stability and fast convergence, which is confirmed with the Lyapunov principle. Finally, the effectiveness of the proposed controller is verified with simulations.