Nonsingular and fast convergent terminal sliding mode control of robotic manipulators

Based on the existing nonsingular sliding mode control of robotic manipulators, this paper proposes a new nonsingular and fast terminal sliding mode surface such that the tracking error tends to zero in the finite time in the phase of sliding mode motion. At the same time, a new fast terminal reaching law is proposed which reduces the time the system move toward the sliding mode. Considering the unkown upper bound of uncertainties, a adaptive fast terminal sliding mode controller is derived on the basis of the theory of Lyapunov stability. The result of the simulation shows that the proposed algorithm not only make the system has fast convergence characteristic, but can overcome the effect of the uncertainty of the system and chattering.