Adaptive time-delayed control approach with non-singular sliding-mode for robot manipulators

This paper describes an adaptive time-delayed control approach with a non-singular terminal sliding-mode technique (ATDC-NTS) that is proposed for obtaining fast response and high tracking performance in robot manipulators. The proposed ATDC-NTS uses one-sampled delayed measurements to cancel the uncertainties and the unknown disturbances generated by the robot manipulators. The proposed method uses an adaptive sliding-mode control for not requiring the stability criteria inherent in the time-delayed control (TDC), and hence, the magnitude of the control gains used in ATDC-NTS is not restricted unlike that used in the existing TDC-based control approaches. In addition, as the proposed ATDC-NTS is based on the non-singular terminal sliding-mode technique, it provides strong attractivity while approaching the reference points within the finite time. The simulation results showed that the proposed ATDC-NTS had high tracking performance as compared to the existing control approach.