Fixed-time Sliding Mode Control for Robot Manipulators

A fixed-time sliding mode control (FSMC) approach is presented in this paper, which defines the constant settling time to the origin of the system regardless of the initial conditions. The control approach is subsequently implemented on robot manipulators. The paper begins by presenting and analyzing a robot manipulator system. Subsequently, a fixed-time sliding mode (FSM) controller is established utilizing the FSM surface and fixed-time stability theory to guarantee the asymptotic convergence of tracking error to zero within a fixed time frame. Lastly, simulations are conducted on the robot manipulator to verify the practicality of the control strategy.