Fixed-time sliding mode-based active disturbance rejection tracking control method for robot manipulators

Anh Tuan Vo, Thanh Nguyen Truong, Quang Dan Le, Hee-Jun Kang

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


This work investigates the issue of a hybrid trajectory tracking control algorithm (HTCA) for robot manipulators (RMs) with uncertain dynamics and the effect of external disturbances. Following are some proposals for achieving the control target. Firstly, to achieve the active disturbance rejection, we propose a uniform second-order sliding mode disturbance observer (USOSMDO) to obtain directly the lumped uncertainties without their prior upper-bound information. Secondly, a fixed-time singularity-free terminal sliding surface (FxSTSS) is proposed to obtain a fixed-time convergence of the tracking control error (TCE) without the singularity in the control input. Then, using information on the proposed USOSMDO, our HTCA is formed based on the FxSTSS and the fixed-time power rate reaching law (FxPRRL). The control proposal not only stabilizes with the global fixed-time convergence but also attains high tracking accuracy. In addition, the chattering problem also is handled almost completely. Finally, numerical simulations verify the effectiveness and advantages of applying the proposed HTCA to a FARA robot.
Original languageEnglish
Article number140
Number of pages16
Issue number2
Publication statusPublished - 19 Jan 2023


  • geometric homogeneity
  • Lyapunov stabilization
  • Samsung FARA-AT2 robot
  • solidworks


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