Fractional order nonsingular fast terminal sliding mode control technique for 6-DOF robotic manipulator

Abstract

This paper proposes a nonsingular fast terminal sliding mode (NFTSM) control method for trajectory tracking of robotic manipulator, in which a fractional order switching control law is introduced. In the absence of prior knowledge, an adaptive law is proposed to estimate the upper bound of the uncertainty of robotic manipulator system. Besides, the adopted sliding surface can avoid the singular problem, and drive the system state to the equilibrium rapidly in a finite time. The output of controller is integrated, so the actual control signal is continuous and chattering free. Finally, the proposed control method is applied to a six degree of freedom (DOF) manipulator, and the effectiveness is illustrated in the simulation.