Full-order multi-input/multi-output terminal sliding mode control for robotic manipulators

Abstract

This study investigates the utility of the full-order terminal sliding mode in the field of robotic manipulator control. Two novel full-order multi-input/multi-output terminal sliding mode control schemes are proposed for position tracking and velocity tracking of rigid robotic manipulators. The first scheme uses the robust control to deal with the system uncertainties. The second scheme utilises the neural network to estimate the uncertain dynamics. Both of the two schemes can drive the system states to reach the designed full-order terminal sliding mode and then the tracking errors can converge to zero in finite time. Compared with the existing terminal sliding mode control techniques, the two control schemes proposed in this paper exhibit full-order dynamics and overcome singularity and chattering problems without sacrificing the tracking precision. Lyapunov stability analysis and simulation results are presented to demonstrate the effectiveness of the proposed control schemes.