Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method

Abstract In this paper, a time - varying chattering free disturbance observer based position tracking control law of serial robotic manipulators is presented to track reference signal in finite time. The key idea employ positive-increasing function associated with the control/observer objectives improve performance. First, model an uncertain manipulator as case study proposed strategy. Then, form obtained provide boundedness using first order sliding mode method. Moreover, without any knowledge about upper bounds uncertainties, reduced estimate uncertainties Subsequently, finite-time designed. gains are provided converge error neighborhood zero Finally, comparative simulations show effectiveness scheme compared other existing strategies.