Adaptive nonsingular finite-time sliding mode control for a class of uncertain second-order nonlinear systems and its implementation on rigid manipulators

摘要

An adaptive nonsingular finite-time sliding mode control (ANFTSMC) is presented in this study for a class of second-order nonlinear systems that are affected by uncertainty and disturbances. To approximate the unknown upper limit associated with system uncertainty, an adaptive mechanism is used as the main notion. By using these estimations as controller parameters, we can successfully mitigate the effects of external disturbances and unpredictable dynamics. Crucially, this method guarantees that errors converge in finite time without hitting singularities. So, all the way through tracking, the control inputs are smooth and limited. The suggested technique also provides a suitable coordinate transformation, which makes it applicable to a wide range of electromechanical systems, especially robotic manipulators. The stability of the closed-loop system is proven by applying the Lyapunov stability theorem. The research proves the approach works by demonstrating its ability to produce good tracking performance using simulated results.