2021•2021 2nd International Conference for Emerging Technology (INCET)Requires access

Chattering Free Non-Singular Fast Terminal Sliding Mode Controller Design for Robot Manipulator

Kajal Rathaur

Abstract

This Paper presents a chattering free non-singular fast terminal sliding mode controller for a Robot manipulator in the presence of parameter uncertainties and external disturbances and comparison of its response with Conventional Sliding Mode Control(SMC) & Terminal Sliding Mode Control(TSMC). Non-singular Fast Terminal Sliding Mode Control(NFTSMC) removes the singularity and slower convergence rate problem of Terminal Sliding Mode Control. Chattering is alleviated by applying the Super Twisting algorithm with NFTSMC without affecting tracking performance. The Effectiveness of the Controller is validated by simulation results.

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Key concepts: Terminal sliding mode, Control theory (sociology), Terminal (telecommunication), Sliding mode control, Controller (irrigation), Singularity, Mode (computer interface), Convergence (economics)