An Adaptive Fast Sliding Mode Control for Trajectory Tracking of Robotic Manipulators

摘要

In this article, a novel nonsingular fast sliding mode surface is presented for the control issue of fixed-time trajectory tracking of the manipulator. Faced with the uncertainty of the manipulator’s own parameters and the complexity of external disturbances, the adaptive technology is utilized to estimate their upper limits values, and the technology does not need to rely on rich prior knowledge. In addition, the hyperbolic tangent function is applied to suppress the torque chattering in the control process of the manipulator. Ultimately, the fixed-time stability of the system is demonstrated through the application of Lyapunov theory, along with some simulation evaluations to verify the efficacy and merit of the proposed controller.