Chattering-free sliding mode control for MIMO nonlinear manipulator systems based on adaptive neural networks

This paper presents a multi-layer chattering-free sliding mode controller for manipulator systems. The sliding manifold used in this paper is based on the fixed-time terminal sliding mode control, which guarantees fast convergence of the system trajectories. The singular problem brought by the terminal sliding mode design is solved by introducing a sinusoidal function into the control signal. To avoid the chattering phenomenon in the output of the controller, adaptive neural networks are augmented in the outer layer design. An example of three-degree-of-freedom manipulator is included to show the effectiveness of the proposed algorithm.