A Backstepping Global Fast Terminal Sliding Mode Control for Trajectory Tracking Control of Industrial Robotic Manipulators

We propose a backstepping global fast terminal sliding mode control for trajectory tracking of industrial robotic manipulators in this article. An integral the surface is firstly suggested to improve dynamic performance and convergence Sliding Mode Control (SMC) Terminal SMC (TSMC), which also obtains finite-time convergence. A controller then developed from proposed using method High-Order (HOSMC) ensure stability system. Thanks method, provides small position velocity errors with less oscillation, smooth torque, short time. The are guaranteed Lyapunov theory. Finally, computer simulation verifies effectiveness designed controller.