Non-Singular Terminal Sliding Mode Controller with Nonlinear Disturbance Observer for Robotic Manipulator

Aiming at the problems of model uncertainties and other external interference in trajectory tracking control n-degree freedom manipulators, a non-singular terminal sliding mode controller with nonlinear disturbance observer (NDO–NTSMC) method is proposed. A (NDO) designed to forecast compensate system interference, gain make error achieve expected exponential convergence rate so that feedforward compensation realized. Then, (NTSMC) built on surface surmount singularity fault classic (TSMC). Therefore, time required from any initial state reach equilibrium point finite. In addition, redesign ensures accuracy uncertain systems. based Lyapunov principle, we complete stability analysis. Finally, applied 2-DOF robotic manipulator compared methods. simulation, needs track continuous under condition joint friction disturbance. The simulation result shows torque output chattering-free smooth, effect precise. Simulation results indicate proposed has advantages excellent performance, strong robustness, fast response.