Non-singular terminal sliding mode control and its application for robot manipulators

A global non-singular terminal sliding mode controller for second order uncertain nonlinear dynamic systems, which enables finite time reachability and elimination of the singularity problem associated with conventional terminal sliding mode control. The tracking precision problem is also explored. The relationship between the tracking precision and the width of the saturation function used for elimination of chattering is formulated. The proposed controller is then applied to the control of a rigid manipulator. Simulation results are presented to validate the analysis.