An FASA Based Fixed-Time Sliding Mode Control for Robotic Manipulator

This paper investigates the fixed-time tracking error control for the robotic system with external disturbances based on the fully-actuated system approach (FASA). Firstly, a fixed-time sliding function is introduced and the fixed-time convergence of the sliding phase is verified. Secondly, combining the structure of the sliding function and the FASA, a fixed-time sliding mode controller (FSMC) is proposed. The stability of the system and the fixed-time convergence of the tracking error are proven. Finally, numerical simulation is carried out and experimental studies are provided by using a Franka manipulator for demonstrating the effectiveness of the proposed control method.