Finite-Time Tracking Controller Design of Perturbed Robotic Manipulator Based on Adaptive Second-Order Sliding Mode Control Method

This article presents an adaptive finite time second-order sliding mode tracking control scheme for robotic manipulators. A new law is suggested to force the trajectories of robot manipulator move from all initial conditions proportional-integral-derivative switching surface in and stay on it. Moreover, adaptation rejects requirement knowledge about upper bound external perturbations. It difficult exactly determine perturbations practical systems, such as Unlike existing methods, tracker n-link manipulators enables accurate control, robust performance parameter tuning. The approach design a controller that errors can reach equilibrium time. Through combination disturbance observer, position purpose joints accurately performed not only nominal environment, but also existence different types robustness effectiveness offered technique are studied simulation experimental results.