The external disturbances and backlash hysteresis kind of nonlinearity present in the manipulator system can greatly affect the tracking performance of the system. In order to undo the effects of these external disturbances and backlash hysteresis, a robust controller is established based on the integration of self-tuning fuzzy nonsingular proportional-integral-derivative (PID) type fast terminal sliding mode control and time delay estimation (TDE). In this paper, TDE plays the part of estimating the unknown dynamics of the robotic manipulator and nonsingular PID type fast terminal sliding mode control in which the gains of PID are tuned using fuzzy logic system to get multiple beneficial characteristics, such as lower steady-state error, finite-time convergence and little chattering. In addition, the derivative of unknown dynamics that is considered to be bounded is dealt by utilizing the adaptive technique. Moreover, Lyapunov theorem is used to study the overall stability of the system. Finally, a comparative study in terms of trajectory tracking has been carried out between the proposed controller and other existing advanced control approaches using PUMA560 robot in order to verify the effectiveness of the proposed controller in the presence of external disturbances and bacsklash hysteresis.

机械手系统中存在的外部干扰和反向间隙滞后类型的非线性会极大地影响系统的跟踪性能。为了消除这些外部扰动和背隙滞后的影响，基于自整定模糊非奇异比例积分微分（PID）型快速终端滑模控制和时延估计（TDE）的集成建立了鲁棒控制器. 在本文中，TDE 用于估计机器人机械手的未知动力学和非奇异 PID 型快速终端滑模控制，其中使用模糊逻辑系统调整 PID 的增益以获得多个有益特性，例如较低的稳态错误，有限时间收敛和很少颤动。此外，利用自适应技术处理被认为有界的未知动力学的导数。此外，李雅普诺夫定理被用来研究系统的整体稳定性。最后，在所提出的控制器与使用 PUMA560 机器人的其他现有先进控制方法之间进行了轨迹跟踪方面的比较研究，以验证所提出的控制器在存在外部干扰和反冲滞后的情况下的有效性。