Fuzzy Adaptive Second Order Terminal Sliding Mode Trajectory Tracking Control for Robotic Manipulator

A new fuzzy adaptive second-order terminal sliding mode controller (FASOTSMC) is designed for the manipulator system with external disturbance and system uncertainty, in order to achieve fast convergence of trajectory tracking error and ideal tracking accuracy. Firstly, nonlinear hyperplane is used instead of linear hyperplane to improve the convergence rate of tracking error. Secondly, in order to avoid chattering, the discontinuous terms are hidden in the integral symbol, and a continuous second-order control law is obtained. At the same time, fuzzy algorithm is used to determine sliding mode surface parameters and adaptive algorithm is used to compensate external disturbance and system uncertainty, and Lyapunov stability theory is used to prove that the control system has convergence in finite time. Finally, the comparative simulation analysis is carried out. The results show that the control algorithm can realize the trajectory tracking control of the manipulator with high precision in limited time and complex factors.