A Novel Non-Singular Terminal Sliding Mode Trajectory Tracking Control for Robotic Manipulators

This brief investigates the trajectory tracking problem of n-link robotic manipulators with internal uncertainties and external disturbances. At first, a novel non-singular terminal sliding mode surface is proposed which contains arctan function (ATNTSM). Then, a robust ATNTSM control law is designed to ensure that the system states globally converges to origin in finite time. Moreover, the sign function is replaced by saturation function in the control law, thus the actual control law becomes continuous and the chattering phenomenon can be completely eliminated. In the end, a two-link robotic manipulators as an example is provided to illustrate the effectiveness of the proposed scheme.

Automated summary

This paper investigates the trajectory tracking problem of n-link robotic manipulators with uncertainties and disturbances, proposing a novel non-singular terminal sliding mode surface and a corresponding control law to ensure global convergence by eliminating chattering phenomenon. A two-link robotic manipulator example is provided to demonstrate the effectiveness of the proposed scheme.