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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