Adaptive fast terminal sliding mode control of robotic manipulators based on dynamics feedforward

To improve the trajectory tracking accuracy of robotic manipulators, an adaptive fast terminal sliding mode control of the robotic arm based on the dynamics feedforward compensation is proposed. The controller consists of two parts: one is a feedforward compensation controller based on the dynamics model for reducing the upper bound value of the uncertainty term, and the other is an adaptive fast terminal sliding mode controller designed based on the Lyapunov method for eliminating the effect of the upper bound of the uncertainty term on the tracking performance, and also for reducing the chattering. The experimental comparison results show that the root mean square error and maximum error of trajectory tracking of our proposed controller are smaller under the working conditions with and without end-effector loads, which can significantly improve the trajectory tracking accuracy of robotic manipulators.