A new nonsingular integral terminal sliding mode control for robot manipulators

Yuxin Su and Chunhong Zheng

International Journal of Systems Science, 2020, vol. 51, issue 8, 1418-1428

Abstract: This paper presents a new terminal sliding mode control for global finite-time tracking of uncertain robot manipulators. A novel integral sliding surface is proposed to eliminate the singularity completely. By integrating the proposed sliding surface and finite-time stability theory, a simple nonsingular terminal sliding mode control is developed. Global finite-time convergence of both sliding surface and tracking errors is proven. Simulations performed on a two degree-of-freedom (DOF) robot are presented to illustrate the effectiveness and improved performance of the proposed approach.

Date: 2020
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DOI: 10.1080/00207721.2020.1764658

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