Jul 2026· Proceedings of the Institution of mechanical engineers. Part C, journal of mechanical engineering science· 0 citations· 42 references
Abstract
This paper proposes a new adaptive fractional-order nonsingular terminal sliding mode control scheme integrated with time delay estimation (AFONTSMC–TDE) for cable-driven manipulators. The proposed AFONTSMC–TDE scheme consists of three key elements: time-delay estimation (TDE), a fractional-order nonsingular terminal sliding mode (FONTSM) manifold, and an adaptive variable-gain reaching law. The TDE utilizes intentionally delayed signals to estimate unknown system dynamics, thereby providing a model-free control framework. The FONTSM manifold ensures fast finite-time convergence while inherently avoiding singularity, and the adaptive reaching law dynamically adjusts control gains to achieve rapid response and effective chattering suppression simultaneously. The tracking error is proved to be uniformly ultimately bounded (UUB) via Lyapunov stability analysis. Finally, the superiorities of the proposed AFONTSMC–TDE scheme are validated through experiments on a cable-driven manipulator, demonstrating significant improvements in tracking accuracy over existing fractional-order sliding mode control methods.
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...
M. Tabatabaei, Hadi Delavari· Journal of Intelligent &...· 0 citations
This paper proposes a fixed-time adaptive sliding mode control method for second-order uncertain nonlinear systems. The proposed controller combines fixed-time nonsingular terminal sliding mode control (FTNSTSMC) with a rapid Kolmogorov-Arnold network (RKAN). Unlike finite-time control, the fixed-time control design pr...
Shi-Xi Hou, Zi-Ru Xu, Yundi Chu et al.· Journal of Vibration and Con...· 0 citations
Comprehensive comparative simulations demonstrate that the proposed composite learning-based finite-time nonsingular terminal sliding mode control (CL-FNTSMC) achieves superior tracking accuracy, faster convergence, and markedly improved disturbance rejection compared with conventional NTSMC, adaptive fast NTSMC, and P...
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
In this article, a time delay control-based fractional-order sliding mode (TDCFOS) approach is proposed for the trajectory tracking of a parallel Delta robot. The complex, nonlinear, and unknown dynamics of the robot are estimated using the time-delay estimation (TDE) method, which provides a model-free control structu...
Someya Amrane, C. Boudjedir, D. Boukhetala· Acta Mechanica et Automatica· 0 citations
This paper proposes a novel adaptive terminal sliding mode tracking control (ATSMC) strategy integrated with an enhanced super-twisting extended state observer (ESESO) for an engine electronic throttle system (EETS) operating under composite disturbances. First, a nonlinear dynamic model of the ETS is established by co...
Van Du Phan, Van Chuong Le, V. Dinh et al.· Italian National Conference...· 0 citations
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