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Practical Tracking Control of Robot Manipulators With Continuous Fractional-Order Nonsingular Terminal Sliding Mode
Abstract
This paper studies practical tracking control design of robot manipulators with continuous fractional-order nonsingular terminal sliding mode (CFONTSM) based on time-delay estimation (TDE). The proposed control design requires no detailed information about the robot dynamics, leading to an attractive model-free nature thanks to TDE, and ensures fast convergence and high tracking precision under heavy lumped uncertainties due to the FONTSM surface and fast-TSM-type reaching law. Stability of the closed-loop system and finite-time convergence are analyzed using Lyapunov stability theory. Comparative 2-DOF (degree of freedom) simulation and experiment results show that the proposed control design can ensure higher tracking precision and faster convergence compared with TDE-based continuous integer-order NTSM (CIONTSM) design in a wide range of speed; meanwhile, better performance is also observed compared with TDE-based IONTSM and FONTSM control designs using a boundary layer technique.
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Citations
Cited by
Van, M., Mavrovouniotis, M., & Ge, S. S. (2019) · IEEE Transactions on Systems, Man, and Cybernetics: Systems · doi:10.1109/tsmc.2017.2782246 · Cited by 478
Yang, C., Song, B., Xie, Y., Zheng, S., & Tang, X. (2023) · IEEE Transactions on Power Electronics · doi:10.1109/tpel.2023.3239609 · Cited by 37
Wang, Y., Peng, J., Zhu, K., Chen, B., & Wu, H. (2020) · International Journal of Systems Science · doi:10.1080/00207721.2020.1808732 · Cited by 21
Self-citationTime Delay Control for Robot Manipulators With Prescribed Performance
Yang, P., Zhang, H., Meng, X., & Li, Q. (2025) · IEEE Control Systems Letters · doi:10.1109/lcsys.2025.3601662 · Cited by 2
Metadata
- Authors
- Wang, Y., Gu, L., Xu, Y., & Cao, X.
- Venue
- IEEE Transactions on Industrial Electronics
- Published
- 2016-10
- Volume
- 63
- Issue
- 10
- Pages
- 6194-6204
- ISSN
- 0278-0046 (ISSN-L)
- 1557-9948
- OpenAlex
- W2395392600
- Cited by
- 356
- References
- 0
- FWCI
- 29.18
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Practical Tracking Control of Robot Manipulators With Continuous Fractional-Order Nonsingular Terminal Sliding Mode. https://app.cochat.ai/papers/10.1109/tie.2016.2569454
- The paper
- Wang, Y., Gu, L., Xu, Y., & Cao, X. (2016). Practical Tracking Control of Robot Manipulators With Continuous Fractional-Order Nonsingular Terminal Sliding Mode. IEEE Transactions on Industrial Electronics. https://doi.org/10.1109/tie.2016.2569454
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