This article deals with a novel adaptive robust controller for uncertain nonlinear systems relying on a proportional–integral–derivative-type nonsingular fast terminal sliding mode control. In this nonsingular proportional–integral–derivative-type terminal sliding mode controller nonsingular fast terminal sliding mode control, the nonsingular fast terminal sliding mode control sliding surface is modified with integral to match with the proportional–integral–derivative-type structure to obtain the essential attributes, namely, quick transient response, finite-time convergence, negligible steady-state error, and chattering cancellation. Furthermore, a novel rapid reaching law is also suggested with dynamic proof for providing the robustness during transient phase. The controller stability and convergence is mathematically analyzed using the Lyapunov theory. The overall control structure is simulated on MATLAB^® software and tested for trajectory tracking of a two-degree-of-freedom revolute–prismatic joint industrial robotic manipulator. The rigorous test results show the performance efficacy of the innovative controller.

本文研究了一种新颖的自适应鲁棒控制器，它基于比例-积分-微分类型的非奇异快速终端滑模控制，用于不确定的非线性系统。在这种非奇异的比例-积分-微分型终端滑模控制器中，非奇异的快速终端滑模控制滑模表面经过积分修改以与比例-积分-微分型结构相匹配属性，即快速瞬态响应，有限时间收敛，可忽略的稳态误差和颤动消除。此外，还提出了一种新颖的快速到达定律，具有动态证明，可在瞬态阶段提供鲁棒性。使用Lyapunov理论对控制器的稳定性和收敛性进行数学分析。总体控制结构在MATLAB上模拟^®软件并经过测试，可用于两自由度旋转-棱柱形联合工业机器人操纵器的轨迹跟踪。严格的测试结果显示了创新型控制器的性能功效。