To facilitate the stabilization of nonlinear underactuated robotic systems under perturbation, a novel nonsingular fast terminal sliding mode control method is proposed. Based on the system transformation into an integrator chain, the combination of twisting-like algorithm and a nonsingular fast terminal sliding mode control technique is employed to achieve the stabilization of the studied systems, which can drive the robot states (joint positions and velocities) to the desired region and then maintain the system at the equilibrium point in finite time. The robustness of the proposed method is validated by the Lyapunov direct method. Finally, numerical simulation results further demonstrate that the proposed method has better performance on the convergent speed of the system state (robot joint positions and velocities) than state-of-the-art methods, especially for the underactuated joints.

中文翻译：

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通过非奇异快速终端滑模控制稳定一类非线性欠驱动机器人系统

为了促进非线性欠驱动机器人系统在扰动下的稳定，提出了一种新的非奇异快速终端滑模控制方法。在将系统转换为集成商链的基础上，采用类似扭曲的算法和非奇异的快速终端滑模控制技术相结合，以实现所研究系统的稳定，从而可以驱动机器人状态（关节位置和速度）达到所需区域，然后在有限时间内将系统维持在平衡点。该方法的鲁棒性通过Lyapunov直接方法验证。最后，