Composite integral terminal sliding mode based adaptive synchronization control of multiple robotic manipulators with actuator saturation

In this paper, a composite integral terminal sliding mode surface is developed, and an adaptive synchronization control scheme is proposed accordingly for multiple robotic manipulators with actuator saturation. By combining the terminal sliding mode with integral terms, the presented scheme is able to reduce the static tracking errors and improve the synchronization performance. Moreover, the system uncertainties, external disturbances and the effect of input saturation are compensated by designing the adaptive update laws. The finite-time stability of the whole system is proved via the Lyapunov stability analysis. Finally, simulation results are given to show the effectiveness and superior performance of the proposed method.