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In this paper, a composite integral terminal sliding mode surface is developed, and an adaptive synchronization control scheme is proposed accordingly for multiple robotic manipulators with actuator saturation. By combining the terminal sliding mode with integral terms, the presented scheme is able to reduce the static tracking errors and improve the synchronization performance. Moreover, the system uncertainties, external disturbances and the effect of input saturation are compensated by designing the adaptive update laws. The finite-time stability of the whole system is proved via the Lyapunov stability analysis. Finally, simulation results are given to show the effectiveness and superior performance of the proposed method.

In this paper, an adaptive on-line parameter identification law is investigated by the extracted parameter error information for the position servo system, and the improved exponential reaching law is employed to design the controller to enhance the tracking performance. The chattering problem is weakened by using the proposed method. Moreover, several adaptive parameters are adopted to suppress the effect of saturation when the limited input affects the system tracking performance. Finally, simulations are conducted to verify the effectiveness of the proposed method.