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Continuous finite-time control for robotic manipulators with terminal sliding mode
Open accessAbstract
A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes. The robustness of the controller is established using the Lyapunov stability theory. Theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained compared with the conventional continuous sliding mode control method.
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Citations
Cited by
Li, J., Ji, R., Liang, X., Ge, S. S., & Yan, H. (2022) · IEEE Transactions on Instrumentation and Measurement · doi:10.1109/tim.2022.3218574 · Cited by 659
Adaptive finite-time tracking control of full state constrained nonlinear systems with dead-zone
Li, H., Zhao, S., He, W., & Lu, R. (2019) · Automatica · doi:10.1016/j.automatica.2018.10.030 · Cited by 555
Van, M., Ge, S. S., & Ren, H. (2017) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2016.2555307 · Cited by 486
Adaptive Fuzzy Finite-Time Control of Nonlinear Systems With Actuator Faults
Wang, H., Liu, P. X., Zhao, X., & Liu, X. (2020) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2019.2902868 · Cited by 345
Wu, Y., Wang, L., Zhang, J., & Li, F. (2019) · IEEE Transactions on Vehicular Technology · doi:10.1109/tvt.2019.2916982 · Cited by 247
Metadata
- Authors
- Yu, S., Yu, X., Shirinzadeh, B., & Man, Z.
- Venue
- Automatica
- Publisher
- Elsevier BV
- Published
- 2005-11
- Volume
- 41
- Issue
- 11
- Pages
- 1957-1964
- ISSN
- 0005-1098 (ISSN-L)
- OpenAlex
- W2129275525
- Cited by
- 2,647
- References
- 0
- FWCI
- 14.35
- Type
- journal article
- Language
- en
- Open access
- green
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- CoChat. (2026). Citation check: Continuous finite-time control for robotic manipulators with terminal sliding mode. https://app.cochat.ai/papers/10.1016/j.automatica.2005.07.001
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- Yu, S., Yu, X., Shirinzadeh, B., & Man, Z. (2005). Continuous finite-time control for robotic manipulators with terminal sliding mode. Automatica. https://doi.org/10.1016/j.automatica.2005.07.001
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
