Proportional-derivative control for nonlinear robot dynamics using adaptive finite-time approach

This work explores adaptive proportional-derivative terminal sliding mode control (APDTSM) for robotic manipulators subject to uncertainties and unknown external disturbances. We first propose a novel finite-time PDTSM control scheme that utilizes proportional-derivative control to achieve fast convergence, superior tracking performance, and eliminate control input chattering. Subsequently, an APDTSM scheme is introduced to estimate the unknown system dynamics, including uncertainties, without requiring prior knowledge of their upper bounds. The finite-time stability of the closed-loop system is then established through Lyapunov stability analysis. Finally, computer simulation results are presented to validate the efficacy of the proposed APDTSM approach, and the proposed scheme is compared with the existing control TSM method.