用于刚性机械手的无抖振快速终端滑模控制

提出一种用于刚性机械手的无抖振动终端滑模鲁棒控制器。快速终端滑模综合了终端滑模和传统线性滑模的优，能在有限时间内到达平衡点，并降低系统稳态误差。采用优化方法推导出系统的跟踪精度和用于消除抖振的饱和函数和函数宽度之间的数学关系。利用系统的参数化模型，可将参数的不确定部分从回归矩阵中分离出来.根据每个参数不确定范围设计鲁棒控制器。仿真结果证明了该方法的有效性。

Chattering free fast terminal sliding mode control for rigid robotic manipulators

A chattering free fast terminal sliding mode robust controller for rigid manipulators is proposed. Combining the advantages of terminal sliding mode and traditional linear sliding mode, this controller can drive systems to reach the equilibrium point in finite time with reduced steady state error. The mathematical relationship between the tracking precision of the system and the width of the saturation function used to eliminate chattering is formulated by using the optimization method. The uncertainties in the parameters are removed from the regressor matrix by using the parameterized model. The robust controller is designed according to the bound of the uncertainty present in each parameter. Simulation results are presented to validate the analysis.