Adaptive nonsingular fixed-time sliding mode control for manipulator systems’ trajectory tracking

Abstract In this paper, an adaptive fixed-time controller is raised for the manipulator system with uncertain disturbances to boost rate and precision of its trajectory tracking solve convergence time dependence on system's initial conditions. First, a nonsingular sliding mode (SM) surface reaching law based arctangent function are constructed enhance control scheme performance. Second, upper bound difficult obtain because uncertainty disturbance. The disturbance estimated by techniques, which do not require priori knowledge about effectively inhibit effect system. Finally, states analyzed rigorous theoretical proof, validity presented demonstrated simulation.