Adaptive nonsingular terminal sliding mode control of 6-DOF manipulator with modified switch function

This paper presents an adaptive nonsingular terminal sliding mode control algorithm with a modified switch function for a 6-DOF manipulator with unknown modeling errors and external disturbances. The finite-time convergence of the controller is analyzed using Lyapunov stability theory. The algorithm avoids singular problems and estimates the upper bound of system uncertainties. A modified switch function is used to achieve precise tracking and reduce chattering in control torque. Finally, the effectiveness of the control method is verified through simulation.