Continuous finite‐time control for uncertain robot manipulators with integral sliding mode

Abstract

This study investigates a continuous sliding mode tracking problem for robot manipulators under the presence of parametric uncertainty and external disturbances. A chattering‐free integral terminal sliding mode control scheme is first proposed by integrating an integral terminal sliding surface with an observer. Lypaunov stability theory is employed to prove the global finite‐time tracking of robotic system. The appealing advantages of the proposed controller are that it is easy to implement with the continuous sliding mode control featuring chattering‐free, fast transient and high steady‐state tracking precision. Extensive simulations on two degree of freedoms (DOFs) are presented to demonstrate the effectiveness and improved performance of the proposed approach.