Adaptive Fractional-Order Non-Singular Fast Terminal Sliding Mode Control Based on Fixed Time Disturbance Observer for Manipulators

In this study, with the help of a disturbance observer, an adaptive fractional-order sliding mode control scheme is designed to achieve trajectory tracking indeterminate manipulators. Firstly, non-singular fast terminal (FO-NFTSM) surface presented increase convergence velocity controller. Secondly, reaching law on strength super-twisting algorithm ensure performance approaching stage. Meanwhile, aiming at compound existing in manipulator system, fixed-time observer (AFSMDO) introduced settle problem, which can estimate lumped real-time. Moreover, compensate for system and raise precision The Lyapunov method applied certify stability system. Simulation experiments verify superior property controller article.