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Terminal sliding mode

About: Terminal sliding mode is a research topic. Over the lifetime, 2643 publications have been published within this topic receiving 37658 citations.


Papers
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Journal ArticleDOI
08 Jul 2003
TL;DR: A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes using the Lyapunov stability theory, and theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained.
Abstract: A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes. The robustness of the controller is established using the Lyapunov stability theory. Theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained compared with the conventional continuous sliding mode control method.

2,040 citations

Journal ArticleDOI
TL;DR: This paper presents a global non-singular terminal sliding mode controller for rigid manipulators to enable the elimination of the singularity problem associated with conventional terminal slide mode control.

1,826 citations

Journal ArticleDOI
TL;DR: A robust MIMO terminal sliding mode technique and a few structural properties of rigid robotic manipulators are developed so that the output tracking error can converge to zero in a finite time, and strong robustness with respect to large uncertain dynamics can be guaranteed.
Abstract: In this paper, a robust multi-input/multi-output (MIMO) terminal sliding mode control technique is developed for n-link rigid robotic manipulators. It is shown that an MIMO terminal switching plane variable vector is first defined, and the relationship between the terminal switching plane variable vector and system error dynamics is established. By using the MIMO terminal sliding mode technique and a few structural properties of rigid robotic manipulators, a robust controller can then be designed so that the output tracking error can converge to zero in a finite time, and strong robustness with respect to large uncertain dynamics can be guaranteed. It is also shown that the high gain of the terminal sliding mode controllers can be significantly reduced with respect to the one of the linear sliding mode controller where the sampling interval is nonzero. >

853 citations

Journal ArticleDOI
TL;DR: A fast terminal dynamics is proposed and used in the design of the sliding-mode control for single-input single-output nonlinear dynamical systems.
Abstract: A fast terminal dynamics is proposed and used in the design of the sliding-mode control for single-input single-output nonlinear dynamical systems. The inherent dynamic properties of the fast terminal sliding modes are explored and conditions to ensure its applicability for control designs are obtained.

677 citations

Journal ArticleDOI
TL;DR: In this paper, fast finite-time control of nonlinear dynamics using terminal sliding-mode (TSM) scheme was investigated, and new norms of fast TSM strategies were proposed, and a faster convergence rate was established in comparison with the conventional fast TTM.
Abstract: This paper investigates fast finite-time control of nonlinear dynamics using terminal sliding-mode (TSM) scheme. Some new norms of fast TSM strategies are proposed, and a faster convergence rate is established in comparison with the conventional fast TSM. A novel concept of nonsingular fast TSM, which is able to avoid the possible singularity during the control phase, is adopted in the robust high-precision control of uncertain nonlinear systems. Numerical simulation on a two-link rigid robot manipulator demonstrates the effectiveness of the proposed algorithm. Copyright © 2010 John Wiley & Sons, Ltd.

550 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
2023141
2022326
2021339
2020323
2019364
2018275