Adaptive predefined-time sliding mode tracking control of robot manipulators with actuator faults

This paper considers adaptive predefined-time sliding mode tracking control of robot manipulators with parametric uncertainties, disturbances and actuator faults. First, a predefined-time sliding mode surface is constructed such that reachability of the sliding surface can be guaranteed with a predefined-time in the presence of disturbances, parametric uncertainties, and actuator faults. Then, to remove the restraint of the upper bound of the disturbances, an adaptive law is proposed such that the bound of the disturbances is updated online. Moreover, the finite-time stability theory is employed to guarantee the predefined-time stability of the system. Finally, by comparisons of the simulation, it is demonstrated that the proposed control method has better tracking performance and stronger robustness.