Extended state observer–based improved non-singular fast terminal sliding mode for mobile manipulators

The robust non-singular fast terminal sliding mode (NFTSM) controller is adopted in this work to solve the problem of tracking trajectory a mobile manipulator (MM) suffering from uncertainties. NFTSM method has capability ensure convergence rate and provide good accuracy robustness against external perturbations parameter uncertainties (total disturbances). However, needs high discontinuous gain reject effect strong disturbances, which results vibrations steady-state chattering control law. To these issues, an extended state observer–based technique proposed for [Formula: see text]-degree freedom (DoF) coupling MM. designed approximate compensate real-time It also ensures total rate, accuracy. stability verified based on Lyapunov theory. Experimental works are conducted 5-degree-of-freedom (5-DoF) MM where obtained demonstrate effectiveness developed prove closed-loop system.