Model-free sliding mode prescribed performance control of robotic manipulator based on new reaching law

The article proposes a model-free sliding mode prescribed performance control method for robotic manipulator. For accelerating the errors converging rate as well bringing down real-time torque, an error-driven nonsingular fast terminal is employed in this method. Besides, modified power reaching law newly designed, which able to offer better chattering elimination than traditional law. To solve problem that controller’s highly relies on accuracy of model, idea introduced where ultra-local model established and estimation time delay used approximate unknown part model. Considering transient significant element effects using security system stability, technique limit state region. closed-loop stability proof whole achieved according Lyapunov’s theorem. proposed superiority feasibility compared with other controllers are demonstrated by numerical simulations.