Adaptive Fast Non-singular Terminal Sliding Mode Control for Robotic Manipulators with Deadzone

Abstract

This paper proposes an adaptive chattering-free fast non-singular terminal sliding mode(CFNTSM) control approach for the trajectory tracking of robotic manipulators system with deadzone. In order to ensure that the system states can converge to origin in finite time and avoid singularities in control law, a chattering-free fast non-singular terminal sliding mode controller is designed. Moreover, continuous control signals are obtained by means of replacing sign(•) with sat(•) in control law, and resulting in the elimination of chattering. Considering external disturbances and parameter uncertainties frequently occur in practical application, an adaptive law is introduced to compensate them. Finally, simulation results validate the effectiveness of the proposed control strategy.