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This article aims at the problem of trajectory tracking for industrial robotic manipulators with control backlash. An arctangent terminal sliding mode surface is developed to deal with the lumped disturbance and enhance the robustness of the system. A novel adaptive super-twisting sliding mode control method is developed to achieve fast convergence and continuous control. The chattering in control law is surmounted by using super-twisting method. The lumped disturbance with unknown upper bound is compensated with the help of the adaptive technique. Based on the Lyapunov stability theory, the sliding mode surface will be arrived in a finite time and the trajectory tracking error will converge to zero in a finite time. The feasibility of the proposed control scheme is validated through an example of a two-link robotic manipulator.

This article aims at the difficulties of wheeled mobile robots (WMR) system with wheeled slipping and control backlash in trajectory tracking. A novel sliding mode control strategy is proposed. For estimating the lumped disturbance, an adaptive sliding mode disturbance observer is constructed and achieves the finite-time convergence of estimate error. For the purpose of accelerating the trajectory tracking, a novel arctangent terminal sliding mode surface is designed. To overcome the control chattering, a novel super-twisting sliding mode controller is constructed which makes the control effect continuous and achieves finite-time tracking of virtual reference velocities. The asymptotic convergence of trajectory tracking error is guaranteed by the Lyapunov stability theory. The simulation and comparison results of a WMR system demonstrate the validity of the proposed scheme for trajectory tracking.

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