Predefined-Time Sliding Mode Control for Robotic Arm Based on Fully Actuated System Approaches

In this paper, a predefined-time sliding mode control method based on fully actuated system approach (FASA-PTSMC) is proposed to address the trajectory tracking control problem of robotic arm system. Firstly, the angular velocity tracking error system of the robotic arm is constructed by the fully actuated system approach (FASA). Subsequently, a sliding surface with predefined-time characteristics is designed through the fully actuated system to deal with the external disturbance. Meanwhile, the boundary layer method is used to eliminate the chattering in the error system. Finally, in accordance with Lyapunov theory, the tracking error system is stable with the predefined-time. To verify the performance of the proposed method, the numerical simulations are conducted.