A new nonsingular integral terminal sliding mode control for robot manipulators

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.