Trajectory Tracking for Robot Manipulators Using Non-Singular Terminal Sliding Mode Control

This research presents a novel method for tracking control design in robot manipulators, utilizing a novel nonsingular terminal sliding mode (NSTSM) technique coupled with state observer estimation. The designed control exhibits fast convergence aided by the nonlinear TSM. Despite its model-free characteristics, the suggested control guarantees precise control and resilience to parameter changes. Through simulations involving 2-degree-of-freedom (2-DOF) robot manipulators, the simplicity, robustness, and fast convergence of the proposed control approach are validated.