Practical Nonsingular Terminal Sliding-Mode Control of Robot Manipulators for High-Accuracy Tracking Control
Abstract
This paper presents a practical nonsingular terminal sliding-mode (TSM) tracking control design for robot manipulators using time-delay estimation (TDE). The proposed control assures fast convergence due to the nonlinear TSM, and requires no prior knowledge about the robot dynamics due to the TDE. Despite its model-free nature, the proposed control provides high-accuracy control and robustness against parameters variations. The simplicity, robustness, and fast convergence of the proposed control are verified through both 2-DOF planar robot simulations and 3-DOF PUMA-type robot experiments.
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For a sufficiently small L, the value of H(x, ẋ) at time t is close to that of H(x, ẋ) at time (t-L).
“For a sufficiently small L , the value of H ( x , ˙ x ) at time t is close to that of H ( x , ˙ x ) at time ( t -L ) [44]”
From Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator (2022) · cites this paper as [44]
The TDE error is bounded if a TDE-based controller is employed.
“In [36]-[40], [44], and [45], the TDE error is verified to be bounded if a TDE-based controller is employed.”
From Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator (2022) · cites this paper as [44]
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References 39 · Cited by 428
- Authors
- Jin, M., Lee, J., Chang, P. H., & Choi, C.
- Affiliations
- Research Institute of Industrial Science and Technology (KR)
- Korea Advanced Institute of Science and Technology (KR)
- Venue
- IEEE Transactions on Industrial Electronics
- Published
- 2009-09
- Volume
- 56
- Issue
- 9
- Pages
- 3593-3601
- ISSN
- 0278-0046 (ISSN-L)
- OpenAlex
- W2158121031
- Cited by
- 428
- References
- 39
- Citations by year
- 2026: 14 · 2025: 33 · 2024: 23 · 2023: 31 · 2022: 25 · 2021: 36 · 2020: 38 · 2019: 50 · 2018: 42 · 2017: 39 · 2016: 24 · 2015: 18 · 2014: 16 · 2013: 14 · 2012: 10
- FWCI
- 13.91
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- IEEE Transactions on Industrial Electronics (publishedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Control and Dynamics of Mobile Robots
- Keywords
- nonsingular terminal sliding mode control, robot manipulators, trajectory tracking control, time delay estimation, model-free control, parameter variation robustness, fast convergence, PUMA robot, planar robot manipulator
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