Adaptive second-order fast nonsingular terminal sliding mode control for robotic manipulators.

This paper presents an adaptive chattering-free sliding mode controller for trajectory tracking of robotic manipulators in the presence of external disturbances and inertia uncertainties. To achieve fast convergence and desirable tracking precision, a second-order fast nonsingular terminal sliding mode (SOFNTSM) controller is designed to guarantee system performance and robust stability. Chattering is eliminated using continuous control law due to high-frequency switching terms contained in the first derivative of actual control signals.