Robust non-model-based sliding mode control for robot manipulator with unknown deadzone and disturbance using preselected tracking performance

This paper presents a non-model-based finite-time sliding mode control (SMC) scheme for unknown deadzone and disturbance of the robotic manipulator. A finite-time SMC (FSMC) is designed to obtain faster error convergence than the conventional infinite-time based SMC. In addition, simpler controller structure is built by using feed-forwarding upper bound coefficients of each manipulator dynamic parameters instead of model-based control or adaptive observer to estimate unknown manipulator parameters. Finally, by adding preselected constraint control term to a FSMC to compensate unknown deadzone and disturbance and uncertainties, a robust control scheme can be designed without depending deadzone and disturbance estimations. Simulation and experimental evaluations highlight the efficacy of the proposed control scheme for an articulated robotic manipulator.