In this paper, a second-order non-singular fast terminal sliding mode controller is proposed for robotic manipulators in the presence of uncertainties and disturbances. Adaptive control is used to obtain robustness to system uncertainties and disturbances. The improved high-gain observer is designed to estimate the speed information, which makes the controller more applicable in practice. Theorem proof and simulations demonstrate the effectiveness of the proposed controller.

中文翻译：

---

基于观察者的自适应二阶非奇异快速终端滑模控制器机器人机械手

在本文中，针对存在不确定性和干扰的机器人机械手，提出了一种二阶非奇异快速终端滑模控制器。自适应控制用于获得对系统不确定性和干扰的鲁棒性。改进的高增益观测器用于估计速度信息，使控制器更适用于实际。定理证明和仿真证明了所提出的控制器的有效性。