Time-delay estimation with a fixed-time sliding mode control for uncertain rigid robot dynamics

This chapter proposes a model-independent fixed-time tracking control for nonlinear rigid robotic dynamical systems. The proposed controller design scheme utilizes time delay estimation (TDE) and a fixed-time fast terminal sliding mode control (FxFTSM). The TDE is specifically designed to estimate the unknown nonlinear dynamics of robotic manipulators, including uncertainties and bounded external disturbances. The Lyapunov criterion is used to investigate the fixed-time stability and analyze the behavior of the resultant closed-loop control system. Finally, computer simulations of the proposed method are performed on the uncertain dynamics of the 2-DOF (degree of freedom) robotic manipulator.