Exponential fast terminal sliding mode based finite-time control of manipulator systems

A finite-time controller is designed based on an exponential fast terminal sliding mode for multi-joint manipulators, which solves the problem of slow convergence in trajectory tracking. By adding an exponential function on the basis of fast terminal sliding mode, the convergence speed is greatly improved. In addition, a new fast variable power reaching law is designed to reduce the chattering problem. The approaching speed is adjusted by changing the size of the power term adaptively in different stages of the approximation, so that the states of the system enter the sliding mode surface faster and more stablely. The controller realizes the finite-time trajectory tracking of the manipulator, shorens the convergence time and weakens the chattering frequency. Finally, the above views are verified by simulation and comparison experiments.