ADAPTIVE NONSINGULAR TERMINAL SLIDING MODE CONTROL FOR MANIPULATOR ROBOT

This study presented an improved adaptive nonlinear terminal sliding mode control technique for the manipulator robot to achieve better adaptability and faster finite-time convergence. First, self-updating algorithm will be developed relax problems of fixed gain main proposed controller. Next, neural network estimator is applied by estimating dynamics increase tracking performance. In addition, a compensator-typed robust controller also designed guarantee robustness, continuity, smoothing properties system. To verify effectiveness method, besides applying Lyapunov theorem, comparative numerical simulation results provided in more detail.