A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators with Global Fast Convergence

This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators. First, a fixed-time disturbance observer (FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems. Then an adaptive scheme is used and the adaptive FTDO (AFTDO) is developed, so that the priori knowledge of the lumped disturbance is not required. Further, a new non-singular fast terminal sliding mode (NFTSM) surface is designed by using an arctan function, which helps to overcome the singularity problem and enhance the robustness of the system. Based on the estimation of the lumped disturbance by…

• NN
  National Natural Science Foundation of China

  Award: 62322315,61873237
• NK
  National Key Research and Development Program of China

  Award: 2018YFB1403702