Sliding mode control using the disturbance observer for uncertain robot manipulators with prescribed performance

Predefined-Time Nonsingular Sliding Mode Control for Markov Jump Manipulator Systems via Reinforcement Learning

This paper investigates the trajectory-tracking control problem for manipulators subject to stochastic payload variations and composite disturbances. The manipulator dynamics are modeled as a Markov jump system to capture random mode switching. To ensure high-precision tracking, a novel reinforcement learning (RL)-base...

Prescribed-time sliding mode control for uncertain nonlinear systems based on periodic delayed feedback and disturbance observer.

This paper addresses the trajectory tracking control problem of nonlinear systems subject to uncertain disturbances by proposing a unified prescribed-time control framework integrating disturbance observation and performance constraints. First, a prescribed-time disturbance observer with smooth adaptive gains and a tim...

Robust fixed-time sliding mode-based trajectory tracking of LIMO mobile robots: Stability analysis and experimental validation

The proposed FTSMC achieves the lowest Integral Squared Error, Integral Absolute Error, and Root Mean Square Error among the compared methods, reducing the ISE by up to a factor of 287, the IAE by up to a factor of 11, and the RMSE by up to a factor of 17.

Design and Simulation of a Wheeled Mobile Robot Control System Based on Sliding-Mode Variable-Structure Algorithm

This paper investigates trajectory-tracking control for a wheeled mobile robot under model uncertainty and bounded velocity disturbances. To improve tracking accuracy, robustness and chattering suppression, a kinematic model is established and a sliding-mode variablestructure controller with a saturation-type reaching...

Fuzzy adaptive fractional-order nonsingular terminal sliding mode control for robotic manipulators: Online uncertainty estimation and fast tracking

This paper proposes an adaptive fractional-order nonsingular terminal sliding mode control framework for trajectory tracking of robotic manipulators under unknown disturbances and model uncertainties. First, a fractional-order dynamic model is derived to more accurately capture the complex electromechanical behavior...

Fuzzy adaptive feedback linearization and sliding mode control for drone position tracking