Adaptive Nonsingular Finite-Time Sliding Mode Control for a Class of Second- Order Nonlinear Systems and Its Application for Robotic Manipulators

Abstract

Abstract This paper presents an adaptive nonsingular finite-time sliding mode control, for a class of second-order nonlinear systems in the presence of uncertainties and disturbances. The core idea involves employing an adaptive mechanism to estimate the unknown upper bounds associated with system uncertainty. These estimates are then utilized as controller parameters, effectively neutralizing the impact of uncertain dynamics and external disturbances. Importantly, this technique ensures finite-time convergence of errors without encountering singularities. Consequently, the control inputs remain smooth and bounded throughout the entire tracking process. Additionally, the proposed algorithm offers an appropriate coordinate transformation, enabling its adaptation for a broad spectrum of electromechanical systems, with particular emphasis on robotic manipulators. The closed-loop system's stability is substantiated through the Lyapunov stability theorem. Through simulation results, the paper substantiates the effectiveness of the approach by showcasing its capacity to achieve good tracking performance.