Synchronization Sliding Mode Control of Closed-Kinematic Chain Robot Manipulators with Time-Delay Estimation

Control of closed-kinematic chain manipulators (CKCM) with uncertain dynamics is a tremendous challenge due to the synchronization among actual joints and end-effectors, limited workspace, nonexistent closed-form solutions forward kinematics. This paper proposes control scheme based on concept sliding mode (SMC) developed for CKCMs called nonsingular fast terminal (NFTSMC) in conjunction time-delay estimation (TDE) method address above issues. First, cross-coupling error derived by combining position errors achieve goal then used form surface NFTSMC. After that, law ensure faster asymptotic convergence both finite minimal time. Then, TDE no prior knowledge manipulator employed estimate unknown disturbances thereby reject effects chattering caused Lyapunov stability theorem show that overall system controlled proposed achieves stability. The performance assessed computer simulation 2 degrees-of-freedom (DOF) planar CKCM results are presented discussed.