A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators with Global Fast Convergence.

This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators. First, a fixed-time disturbance observer (FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems. Then an adaptive scheme is used and the adaptive FTDO (AFTDO) is developed, so that the priori knowledge of the lumped disturbance is not required. Further, a new non-singular fast terminal sliding mode (NFTSM) surface is designed by using an arctan function, which helps to overcome the singularity problem and enhance the robustness of the system. Based on the estimation of the lumped disturbance by the AFTDO, a fixed-time non-singular fast terminal sliding mode controller (FTNFTSMC) is developed to guarantee the trajectory tracking errors converge to zero within a fixed time. The settling time is independent of the initial state of the system. In addition, the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method. Finally, the fixed-time NFESM (FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers (SMCs) are performed. The comparative results confirm that the FTNFTSMC has superior control performance.