Continuous finite-time control for uncertain robot manipulators with integral sliding mode

This study investigates a continuous sliding mode tracking problem for robot manipulators under the presence of parametric uncertainty and external disturbances. A chattering-free integral terminal sliding mode control scheme is first proposed by integrating an integral terminal sliding surface with an observer. Lypaunov stability theory is employed to prove the global finite-time tracking of robotic system. The appealing advantages of the proposed controller are that it is easy to implement with the continuous sliding mode control featuring chattering-free, fast transient and high steady-state tracking precision. Extensive simulations on two degree of freedoms (DOFs) are presented to demonstrate the effectiveness and improved performance of the proposed approach.