Adaptive Non-Singular Fast Terminal Sliding Mode Trajectory Tracking Control for Robot Manipulators

In order to improve the efficiency of human–robot interaction (HRI), it is necessary carry out research on precise control manipulator. this paper, an adaptive non-singular fast terminal sliding mode scheme proposed for robot manipulators solve trajectory tracking problem with model uncertainty and external disturbances. At first, a novel surface proposed, by introducing auxiliary function, singularity caused inverse error-related matrix could be avoided in controller design process. Then, developed using Lyapunov synthesis. A robust strategy used deal lumped uncertainty, update law designed compensate upper bound whose prior unknown. Finally, two-link as simulation example given illustrate effectiveness scheme. Compared other similar algorithms, has higher smaller computational complexity reason that no piecewise continuous function needed constructed during design.