Trajectory tracking control based on global fast terminal sliding mode for 2-DOF manipulator

The global fast terminal sliding mode control(GFTSMC) method for the 2-DOF manipulator is used to track its trajectory. the dynamics of 2-DOF manipulator is nonlinear and strongly coupled. GFTSMC combines the advantages of traditional sliding mode control and terminal sliding mode control in the sliding phase, and it also uses the concept of rapid arrival in reaching phase, so it possesses the characteristic of rapidity and finite time convergence. Choosing proper parameters converges the system state to origin, and the stability of the system is proved by using the Lyapunov theory. On the base of the simulation, we further evaluate this method by hardware-in-the-loop (HIL) simulation technique. Both of the simulation and hardware-in-the-loop results validate the effectiveness of this approach for trajectory tracking of 2-DOF manipulator. And a high-accuracy trajectory tracking is realized.