Observer‐based adaptive second‐order non‐singular fast terminal sliding mode controller for robotic manipulators

Abstract

Abstract In this paper, a second‐order non‐singular fast terminal sliding mode controller is proposed for robotic manipulators in the presence of uncertainties and disturbances. Adaptive control is used to obtain robustness to system uncertainties and disturbances. The improved high‐gain observer is designed to estimate the speed information, which makes the controller more applicable in practice. Theorem proof and simulations demonstrate the effectiveness of the proposed controller.