Robust Trajectory Tracking with Adaptive Non-singular Fast TSM Control of a Robot Manipulator

Abstract

This work investigates a robust trajectory tracking with Adaptive Non-singular Fast TSM control (ANFTSMC) of a robot manipulator in the presence of disturbances and uncertainties. This method, based on the concept of fast terminal sliding mode, aims to ensure the finite-time convergence of the system states as fast as possible without singularity problems. Moreover, the effects of disturbances and uncertainties are overcome while avoiding the chatter problem thanks to the improved adaptive law. Using the Lyapunov theory, the semi-globally fixed-time stability of the whole closed-loop system is proved. Numerical simulations are carried out as an illustration of the efficiency of the proposed method.