Trajectory Tracking Robust Control Method Based on Finite-Time Convergence of Manipulator with Nonsingular Fast Terminal Sliding Mode Surface

Table 1

Sliding mode and controller design parameters.

Sliding mode	a1	a2	k1	k2
FTSM	2	1.5	2.5	2	—
NFTSM	2	1.5	2.5	2	0.1