ABSTRACT This paper presents a new terminal sliding mode control for global finite-time tracking of uncertain robot manipulators. A novel integral sliding surface is proposed to eliminate the singularity completely. By integrating the proposed sliding surface and finite-time stability theory, a simple nonsingular terminal sliding mode control is developed. Global finite-time convergence of both sliding surface and tracking errors is proven. Simulations performed on a two degree-of-freedom (DOF) robot are presented to illustrate the effectiveness and improved performance of the proposed approach.

中文翻译：

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一种新的机器人机械手非奇异积分终端滑模控制

摘要 本文提出了一种新的终端滑模控制，用于不确定机器人机械手的全局有限时间跟踪。提出了一种新颖的积分滑动面来完全消除奇异性。通过整合所提出的滑动面和有限时间稳定性理论，开发了一种简单的非奇异终端滑模控制。证明了滑动面和跟踪误差的全局有限时间收敛。展示了在两个自由度 (DOF) 机器人上执行的模拟，以说明所提出方法的有效性和改进的性能。