Finite-Time Tracking Controller Design of Perturbed Robotic Manipulator Based on Adaptive Second-Order Sliding Mode Control Method

Abstract

This article presents an adaptive finite time second-order sliding mode tracking control scheme for robotic manipulators. A new control law is suggested to force the trajectories of the robot manipulator to move from all initial conditions to proportional-integral-derivative switching surface in the finite time and stay on it. Moreover, the adaptation law rejects the requirement of knowledge about upper bound of the external perturbations. It is difficult to exactly determine the upper bound of the perturbations in the practical systems, such as robot manipulators. Unlike the existing methods, the new adaptive finite time second-order sliding mode tracker for $n$ -link robot manipulators enables accurate tracking control, robust performance and parameter tuning. The suggested approach presents the design of a robust controller such that the tracking errors of robot manipulator can reach the equilibrium in the finite time. Through the combination of the finite time tracker and disturbance observer, the position tracking purpose of manipulator joints is accurately performed not only in the nominal environment, but also in the existence of different types of perturbations. The robustness performance and effectiveness of the offered technique are studied in simulation and experimental results.