Global Fixed-Time Sliding Mode Trajectory Tracking Control Design for the Saturated Uncertain Rigid Manipulator

The global fixed-time sliding mode control strategy is designed for the manipulator to achieve trajectory tracking in response uncertainty of system model, external disturbances, and saturation actuator. First, aiming at lumped disturbance caused by model disturbance, adaptive observer (AFSMDO) was introduced eliminate negative effects disturbance. parameters can adaptively change with disturbances designing law, improving accuracy estimation. Secondly, surface avoid singularity, nonsingular (NFSMC) design put place ensure convergence system. Finally, fixed time compensator (FTSC) created NFSMC prevent impact actuator on system, effectively reducing chatter speed closed-loop stability theory Lyapunov method were exploited offer a thorough rigorous theoretical analysis demonstration overall Simulation experiments verify that scheme has excellent strong practicability.