This article investigates a difficult problem which focuses on the external disturbance and dynamic uncertainty in the process of trajectory tracking. This article presents a robust adaptive fuzzy terminal sliding mode controller with low-pass filter. The low-pass filter can provide smooth position and speed signals. The fuzzy terminal sliding mode controller can achieve fast convergence and desirable tracking precision. Chattering is eliminated with continuous control law, due to high-frequency switching terms contained in the first derivative of actual control signals. Ignoring the prior knowledge upper bound, the controller can reduce the influence of the uncertain kinematics and dynamics in the actual situation. Finally, the experiment is carried out and the results show the performance of the proposed controller.

中文翻译：

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链式机械手的轨迹跟踪控制：具有低通滤波器的鲁棒自适应模糊终端滑模控制

本文针对轨迹跟踪过程中的外部扰动和动态不确定性，研究了一个难题。本文提出了一种具有低通滤波器的鲁棒自适应模糊终端滑模控制器。低通滤波器可以提供平滑的位置和速度信号。模糊终端滑模控制器可以实现快速收敛和理想的跟踪精度。由于实际控制信号的一阶导数中包含高频开关项，因此使用连续控制律消除了颤振。忽略先验知识上限，控制器可以减少实际情况中不确定运动学和动力学的影响。最后，进行了实验，结果表明了所提出的控制器的性能。