This paper improved trajectory tracking control strategy for robotic manipulators, combining Time Delay Control (TDC), Integral Sliding Mode (ISM), and the Super-Twisting Algorithm (TDC-IS-STA). The Time Delay Control framework provides a model-free aspect by estimation of unknown nonlinear dynamics and external disturbances using previously measured system data, while the integral sliding surface eliminates the reaching phase and ensures robustness from the initial instant of operation. To further mitigate the chattering phenomenon inherent in classical sliding mode control, the Super-Twisting Algorithm is incorporated to generate a continuous control signal while preserving finite-time convergence and robust performance. The proposed controller is validated through numerical simulations performed in MATLAB/Simulink on a parallel Delta robot model under multiple operating scenarios .Comparative study against control approaches demonstrate that the proposed TDC-IS-STA strategy achieves superior tracking accuracy, reduced chattering in the actuator torque signals .
This paper proposes a two-layer robust fixed-time sliding mode control (FTSMC) scheme for the trajectory-tracking problem of a differential-drive LIMO mobile robot subject to modeling uncertainties and external disturbances. At the kinematic layer, a backstepping-based velocity command is designed to stabilize the post...
Saim Ahmed, Z. Haider, A. T. Azar· An International Journal of...· 0 citations
This paper addresses the high-precision trajectory tracking control problem for robotic manipulators operating in uncertain environments by proposing a novel fuzzy adaptive gain-tuning sliding-mode control (FAGT-SMC) algorithm. While conventional sliding-mode control offers strong robustness against matched uncertainti...
Jianzhen Zhang, He-Lin Wang, Kun Wei· Processes· 1 citation
In order to maintain stable formations of the underactuated unmanned surface vehicles (USVs) under ocean disturbances and reduce control chattering, a fuzzy adaptive super-twisting sliding mode control method combined with dynamic cooperative error correction is introduced in this paper. At the kinematic level, a dynam...
Shui-Tao Peng, Jing Luo, Lei Du et al.· Journal of Marine Science an...· 0 citations
Quadrotor unmanned aerial vehicles (QUAVs) are highly non-linear and coupled multi-body systems subject to unknown disturbances and unmodeled dynamics that significantly degrade trajectory tracking performance. These challenges motivate the development of robust and high-performance control strategies. This paper p...
Abdelkrim Kherkhar, B. Babes, Muath Odeh et al.· Scientific Reports· 0 citations
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...
Dan Li, Hua-Guang Zhang, Yang Cui et al.· IEEE Transactions on Automat...· 0 citations
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