Keywords
Sliding mode
Switched control
Submitted : 2025-04-29
Accepted : 2025-05-14
Published : 2025-05-29
Abstract
This paper presents an entire fixed-time disturbance observer-based global terminal switching sliding mode control of robot manipulators, which has inner and external uncertainties. The entire fixed-time disturbance observer-based global terminal switching sliding mode control has the global finite-time reaching characteristic, the property that system convergence time can be prescribed, and the global robustness to uncertainties, with the entire fixed-time disturbance observer that accurately estimates uncertainties after a fixed time, despite the initial state. The joints of the control system can arrive at the prescribed joint angular position at the predefined joint angular speed at the prescribed time.
References
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