Adaptive non-singular terminal sliding mode control with high-gain observers for robotic manipulators

Abstract

In this paper, an adaptive non-singular terminal sliding mode controller is proposed for robotic manipulators in the presence of uncertainties and disturbances. The adaptive control is used to obtain robustness to system uncertainties and disturbances. In addition, the high-gain observer is employed to estimate the speed information, which make the controller more applicable in practice. Theorem proof and simulations demonstrate the effectiveness of the proposed controller.