Adaptive Integral-Type Terminal Sliding Mode Tracker Based on Active Disturbance Rejection for Uncertain Nonlinear Robotic Systems With Input Saturation

This paper proposes an adaptive integral-type terminal sliding mode tracking control approach based on the active disturbance rejection for uncertain nonlinear systems subject to input saturation and external disturbances. Its main objective is achieve zero error in presence of disturbances, parametric uncertainties saturation; ubiquitous problems most practical engineering systems. The proposed combines robustness chattering-free dynamics with estimation properties a extended state observer. It also assumes bounds be unknown. asymptotic stability closed-loop system proven using Lyapunov theorem. effectiveness assessed flexible-link robotic manipulator. obtained results confirmed god performance approach. Robustness, good albeit are among features.