Fixed-Time Sliding Mode-Based Active Disturbance Rejection Tracking Control Method for Robot Manipulators

This work investigates the issue of a hybrid trajectory tracking control algorithm (HTCA) for robot manipulators (RMs) with uncertain dynamics and effect external disturbances. Following are some proposals achieving target. Firstly, to achieve active disturbance rejection, we propose uniform second-order sliding mode observer (USOSMDO) obtain directly lumped uncertainties without their prior upper-bound information. Secondly, fixed-time singularity-free terminal surface (FxSTSS) is proposed convergence error (TCE) singularity in input. Then, using information on USOSMDO, our HTCA formed based FxSTSS power rate reaching law (FxPRRL). The proposal not only stabilizes global but also attains high accuracy. In addition, chattering problem handled almost completely. Finally, numerical simulations verify effectiveness advantages applying FARA robot.