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In this paper, a second order sliding mode with time delay estimation based on non-singular terminal sliding surface is presented for high-accuracy tracking trajectory of uncertain robot manipulators. The design of the proposed controller is based on a non-singular terminal sliding surface that overcomes the problem of singularity and the restrictions of the exponent in classical terminal sliding surface. Then, a second order sliding mode control scheme with time delay estimation is proposed to eliminate the chattering phenomenon and to estimate the uncertainties and disturbances. Lyapunov theory is used to prove the finite-time convergence of the sliding surface and its derivative. Finally, simulation results are presented to illustrate the effectiveness of the proposed method.

Non-singular Terminal Second Order Sliding Mode with Time Delay Estimation for Uncertain Robot Manipulators