Robust Nonsingular Fast Terminal Sliding Mode Control in Trajectory Tracking for a Rigid Robotic Arm

Authors
• 1 Laboratory of Advanced Systems (LSA), Polytechnic School of Tunisia, National Engineering School of Tunis (ENIT), Tunis, Tunisia , Tunis (Tunisia)
• 2 CReSTIC, IUT de Troyes, 9 Rue de Québec, BP 396, Troyes Cedex, 10026, France , Troyes Cedex (France)
Type
Published Article
Journal
Automatic Control and Computer Sciences
Publisher
Publication Date
Nov 01, 2019
Volume
53
Issue
6
Pages
511–521
Identifiers
DOI: 10.3103/S0146411619060063
Source
Springer Nature
Keywords
AbstractIn this paper, a novel concept of robust Nonsingular Fast Terminal Sliding Mode controller (NFTSMC) is adopted for the trajectory tracking problem of a non-linear system. The developed controller is based on NFTSM controller and \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${{{\text{H}}}_{\infty }}$$\end{document} approach. The use of the NFTSM controller offers a fast convergence rate, avoids singularities, but still suffers from chattering. In order to overcome this limitation, a new term in the control law is inspired by the technique of \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$${{{\text{H}}}_{\infty }}{\text{;}}$$\end{document} it interferes by managing uncertainties and external disturbances without knowing their upper bound. Stability analysis of the closed-loop system is accomplished using the Lyapunov criterion. Several simulation results are given to show the effectiveness of the proposed approach.