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<p>A new adaptive chattering-free sliding mode control strategy is developed to eliminate the effects of external disturbances and system uncertainties during the trajectory tracking of <i>n</i>-DOF robots. To enhance the convergence speed and tracking accuracy of the controller, a second-order fast non-singular terminal sliding mode (SOFNTSM) controller is developed. This controller ensures the system’s robustness and stability while eliminating chattering efficiently through a continuous control law. The method introduces the integration of the first-order derivative of the switching term to ensure that the actual control law remains continuous, achieving non-chattering control. Additionally, adaptive technology is used to compensate for system uncertainties without the necessity of prior information about the upper limits of those uncertainties. The 2-DOF and 5-DOF robotic arm is used as the control object, and further comparative simulations are performed to demonstrate the robustness and benefit from the control alternatives.</p>

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A New Robot Trajectory Tracking Method Based on Chattering-free Sliding Mode Control

  • 期刊论文

  • 发表日期：

    2025年11月4日

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  • Jiqing Chen,
  • Bin Lu,
  • Wei Wang

摘要

A new adaptive chattering-free sliding mode control strategy is developed to eliminate the effects of external disturbances and system uncertainties during the trajectory tracking of n-DOF robots. To enhance the convergence speed and tracking accuracy of the controller, a second-order fast non-singular terminal sliding mode (SOFNTSM) controller is developed. This controller ensures the system’s robustness and stability while eliminating chattering efficiently through a continuous control law. The method introduces the integration of the first-order derivative of the switching term to ensure that the actual control law remains continuous, achieving non-chattering control. Additionally, adaptive technology is used to compensate for system uncertainties without the necessity of prior information about the upper limits of those uncertainties. The 2-DOF and 5-DOF robotic arm is used as the control object, and further comparative simulations are performed to demonstrate the robustness and benefit from the control alternatives.