On the Cascaded Robust Terminal Sliding Mode Control of Robotic Manipulators Including Actuator Dynamics

In this study, a novel cascaded robust terminal sliding mode control approach is developed for robotic manipulators including actuator dynamics. The proposed approach can achieve finite-time stability in the presence of arbitrary uncertain mechanical and electrical parameters of the robot model. Corresponding stability analysis is presented to lay a foundation for analytical understanding in generic theoretical aspects and safe operation for real systems. An illustrative example is bench tested to validate the effectiveness of the proposed approach.