Enhanced tracking control for n-DOF robotic manipulators: A fixed-time terminal sliding mode approach with time delay estimation
Saim Ahmed, Ahmad Taher Azar
Abstract
This work proposes a fixed-time terminal sliding mode control scheme with time delay estimation (FxTSM-TDE) for unknown nonlinear robotic systems under uncertainties and unknown bounded disturbances. The idea of the fixed-time terminal sliding mode control method (FxTSM) is thoroughly explained and analyzed. The FxTSM approach has been used to achieve nonsingular fixed-time control, non-chatter control inputs, and superior trajectory tracking performance. Then, the proposed approach for estimating the unknown robot dynamics utilizes the TDE approach. The Lyapunov analysis is used to establish the fixed-time stability of the system. The effectiveness of the suggested approach is evaluated, demonstrated, and contrasted with the existing control schemes by illustrating the results of the proposed method's enhanced performance in tracking accuracy, robustness, and convergence speed when implemented in robotic manipulator dynamics. The results indicate that the existing scheme has corresponding root mean square (RMS) error values of 0.0235 and 0.0283, while the proposed scheme has values of 0.0178 and 0.0188, respectively. • We propose an FxTSM scheme that achieves nonsingular fixed-time control and non-chatter control inputs. • The proposed approach utilizes TDE to estimate the robot's unknown dynamics, eliminating the need for a precise model. • Lyapunov stability analyses guarantee the fixed-time stability of the closed-loop system under the proposed control scheme. • The paper demonstrates the effectiveness of the FxTSM-TDE approach through simulations involving robotic manipulators.