Global Terminal Switching Sliding Mode Control of Robot Manipulators Based on Entire Fixed-Time Disturbance Observer

© 2025 by the Authors. Licensee Whioce Publishing, Singapore. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution 4.0 International License ( https://creativecommons.org/licenses/by/4.0/ )

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Abstract

This paper presents an entire fixed-time disturbance observer-based global terminal switching sliding mode control of robot manipulators, which has inner and external uncertainties. The entire fixed-time disturbance observer-based global terminal switching sliding mode control has the global finite-time reaching characteristic, the property that system convergence time can be prescribed, and the global robustness to uncertainties, with the entire fixed-time disturbance observer that accurately estimates uncertainties after a fixed time, despite the initial state. The joints of the control system can arrive at the prescribed joint angular position at the predefined joint angular speed at the prescribed time.

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