Adaptive Nonsingular Fixed-Time Sliding Mode Control for Uncertain Robotic Manipulator System with External Disturbance

The problem of adaptive nonsingular fixed-time sliding mode control (NFTSMC) for robotic manipulator systems is studied in the paper. At first, a new NFTSMC strategy is developed to guarantee that the rigid robotic manipulator system rapidly tracks the desired signal. Secondly, a well-designed adaptive fixed-time algorithm is devised to resolve the lumped uncertainty. Next, the Lyapunov analysis method is used to prove that the tracking error system is fixed-time stable. Finally, the effectiveness of the control method is demonstrated by the simulation of a 2-link rigid robotic manipulator. Compared with existing results, our method can provide a better control performance.