The terminal controller design with application to robotic manipulator

In this paper, the terminal sliding mode control has been reviewed and used to design the switching surfaces with finite-time error convergence in tracking control. Then, a terminal controller based on the terminal reaching law with a similar form of terminal sliding mode switching surfaces has been proposed. The salient features of the control strategy with terminal sliding mode and terminal controller are its finite-time convergence and chattering free. The controller is then applied to the tracking control of a five bar robotic manipulator to demonstrate the effectiveness of the proposed method.