We propose a backstepping global fast terminal sliding mode control for trajectory tracking control of industrial robotic manipulators in this article. An integral of the global fast terminal sliding mode surface is firstly suggested to improve the dynamic performance and fast convergence of Sliding Mode Control (SMC) and Terminal SMC (TSMC), which also obtains a finite-time convergence. A controller is then developed from the proposed sliding surface using the backstepping control method and High-Order SMC (HOSMC) to ensure the global stability of the control system. Thanks to this proposed method, the controller provides small position and velocity control errors with less oscillation, smooth control torque, and convergence of the control errors in the short time. The stability and convergence also are guaranteed with Lyapunov theory. Finally, computer simulation verifies the effectiveness of the designed controller.

中文翻译：

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工业机器人的轨迹跟踪控制的Backstepping全局快速终端滑模控制

在本文中，我们提出了一种用于工业机器人操纵轨迹跟踪控制的Backstepping全局快速终端滑模控制。首先提出了全局快速终端滑模曲面的积分，以提高滑模控制（SMC）和终端SMC（TSMC）的动态性能和快速收敛性，并获得了有限时间的收敛性。然后，使用反步控制方法和高阶SMC（HOSMC）从建议的滑动表面开发出一个控制器，以确保控制系统的整体稳定性。由于采用了这种方法，控制器可在较小的时间内提供较小的位置和速度控制误差，并具有较小的振荡，平滑的控制转矩以及控制误差的收敛性。李雅普诺夫理论也保证了稳定性和收敛性。最后，