  To achieve accurate contour tracking of robotic manipulators with dynamic
uncertainties, coupling and actuator faults, an adaptive non-singular terminal
sliding mode control (ANTSMC) based on cross-coupling is proposed. Firstly, the
singularity is eliminated completely by using a terminal sliding mode manifold.
Secondly, an adaptive tuning approach is selected for avoid the demand of the
bound of system uncertainty, and the stability of the proposed control strategy
is demonstrated by the sense of the finite-time stability theory. Furthermore,
the cross-coupled ANTSMC law is proposed for contour tracking at the
end-effectors level of robotic manipulators. Thirdly, a unified framework of
cross-coupling contour compensation and reference position pre-compensation is
designed by combining cross-coupling control with parabolic transition
trajectory planning. Finally, numerical simulation and experimental results are
shown to prove the effectiveness of the proposed control strategy.
