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A new nonsingular integral terminal sliding mode control for robot manipulators

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  • Yuxin Su
  • Chunhong Zheng

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.

Suggested Citation

  • Yuxin Su & Chunhong Zheng, 2020. "A new nonsingular integral terminal sliding mode control for robot manipulators," International Journal of Systems Science, Taylor & Francis Journals, vol. 51(8), pages 1418-1428, June.
    • Handle: RePEc:taf:tsysxx:v:51:y:2020:i:8:p:1418-1428
    DOI: 10.1080/00207721.2020.1764658
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