Global Terminal Switching Sliding Mode Control of Robot Manipulators Based on Entire Fixed-Time Disturbance Observer

This paper presents an entire fixed-time disturbance observer-based global terminal switching sliding mode control of robot manipulators, which has inner and external uncertainties. The entire fixed-time disturbance observer-based global terminal switching sliding mode control has the global finite-time reaching characteristic, the property that system convergence time can be prescribed, and the global robustness to uncertainties, with the entire fixed-time disturbance observer that accurately estimates uncertainties after a fixed time, despite the initial state. The joints of the control system can arrive at the prescribed joint angular position at the predefined joint angular speed at the prescribed time.