Adaptive Non-singular Terminal Sliding Mode Control for Robotic Manipulator

Abstract

An adaptive terminal sliding mode control method for robotic manipulator in the presence of external disturbance is proposed in this paper. Firstly, a manipulator nonlinear system in the presence of external disturbance is introduced and analyzed. Then the adaptive terminal sliding mode controller is designed via combining the linear sliding surface with the nonsingular terminal manifold, which guarantees the tracking error asymptotically converges to zero within finite time. Meanwhile, it can reduce system chattering phenomenon. An adaptive tuning method is utilized to deal with external uncertainties. Finally, simulation for robotic manipulator is camed out to verify the strong robustness and system stability.