Aimed at resolving the trajectory tracking control problem of aerial manipulation, this paper presents an aerial manipulation system that consists of a quadrotor unmanned aerial vehicle (UAV) and a two-degree-of-freedom manipulator. The system adopte...
The contribution of this paper is to propose an adaptive fast terminal sliding mode controller that ensures exact predefined time stability of aerial manipulation tracking control based upon the nonlinear disturbance observer.The proposed control str...
This paper describes the design of a robust composite high-order super-twisting sliding mode controller (HOSTSMC) for robot manipulators. Robot manipulators are extensively used in industrial manufacturing for many complex and specialized application...
In response to the trajectory tracking control problem of manipulators under measurement disturbances, a novel multi-input multi-output discrete integral terminal sliding mode control scheme is proposed. Initially, this scheme establishes a dynamic m...
In this paper, a robust nonsingular fast terminal sliding mode control scheme for the picking manipulator under the condition of load change and nonlinear friction disturbance is presented. Firstly, the dynamic equation of the picking manipulator und...
For the trajectory tracking control problem of a 7-DOF redundant hydraulic manipulator, an adaptive fuzzy sliding mode control method based on a novel fast reaching law is proposed. Based on the kinematic analysis of the manipulator, its dynamic equa...
Soft manipulators have desirable environmental compatibility because of their pliability. However, this pliability also brings challenges to modeling and control when considering contact or collision with the environment. In previous work, we establi...
Control of closed-kinematic chain manipulators (CKCM) with uncertain dynamics is a tremendous challenge due to the synchronization among actual joints and end-effectors, limited workspace, and nonexistent closed-form solutions of forward kinematics....
The paper investigates a modified adaptive super-twisting sliding mode control (ASTSMC) for robotic manipulators with input saturation. To avoid singular perturbation while increasing the convergence rate, a modified sliding mode surface (SMS) is dev...
The dynamic model of a spatial flexible manipulator is challenging to establish accurately and is susceptible to disturbances from uncertainties, which negatively impact system control. To mitigate the effects of uncertainties and improve control pre...
Prosthetic humanoid manipulators manufacturing requires light overall weight, small size, compact structure, and low cost to realize wearing purpose. These requirements constrain hardware configuration conditions and aggravate the nonlinearity and co...
This paper is aimed at addressing the tracking control issue for an n-DOF manipulator regardless of unknown friction and unknown control direction. In order to handle the above issues, an adaptive sliding mode control (ASMC) is developed with a Nussb...
Research on trajectory tracking control for climbing welding robots holds significant importance in the field of automated welding. However, existing trajectory tracking methods suffer from issues such as jitter and slow speed. In this paper, an impr...
To maintain the safe operation and acceptable performance of robot manipulators when faults occur inside the system, fault-tolerant control must deal differently uncertainties and disturbances, especially with the occurrence of loss-effective faults....
The paper proposes an adaptive fuzzy position control for a 3-DOF hydraulic manipulator with large payload variation. The hydraulic manipulator uses electrohydraulic actuators as primary torque generators to enhance carrying payload of the manipulato...
This paper comes up with a novel Fast Terminal Sliding Mode Control (FTSMC) for robot manipulators. First, to enhance the response, fast convergence time, against uncertainties, and accuracy of the tracking position, the novel Fast Terminal Sliding M...
Aiming at the problem of convergence speed and chattering in sliding mode variable structure control of manipulator, an improved exponential reaching law and nonlinear sliding surface are proposed, and the Lyapunov function is used to analyze its sta...
In order to improve the efficiency of human–robot interaction (HRI), it is necessary to carry out research on precise control of the manipulator. In this paper, an adaptive non-singular fast terminal sliding mode control scheme is proposed for...
Aiming at the problems of model uncertainties and other external interference in trajectory tracking control of n-degree of freedom manipulators, a non-singular terminal sliding mode controller with nonlinear disturbance observer (NDO–NTSMC) tr...
In this paper, two finite-time active fault-tolerant controllers for a robot manipulator, which combine a synchronous terminal sliding mode control with an extended state observer, are proposed. First, an extended state observer is adopted to estimat...
The global fixed-time sliding mode control strategy is designed for the manipulator to achieve global fixed-time trajectory tracking in response to the uncertainty of the system model, the external disturbances, and the saturation of the manipulator...
The manipulator, in most cases, works in unstructured and changeable conditions. With large external variations, the demand for stability and robustness must be ensured. This paper proposes a neural network sliding mode control (NNSMC) to cope with u...
The control of a parallel robotic manipulator with uncertain dynamics is a noteworthy challenge due to the complicated dynamic model; multi-closed-loop chains; and singularities. This study develops a Synchronization Full-Order Terminal Sliding Mode...
This paper proposes a robust barrier-function-based fuzzy adaptive super-twisting integral terminal sliding-mode control (BF-FAST-ITSMC) for robotic manipulators subject to external disturbances. Initially, an integral terminal sliding-mode manifold...
The sliding mode controller stands out for its exceptional stability, even when the system experiences noise or undergoes time-varying parameter changes. However, designing a sliding mode controller necessitates precise knowledge of the object’...
In order to realize the problem of tracking control of the trajectory of robot manipulators under variable load conditions, this paper proposes a non-singular fast terminal sliding mode tracking control design for robot manipulators based on integrat...
This paper presents a novel adaptive fast-terminal neuro-sliding mode control (AFTN-SMC) for a two-link robot manipulator with unknown dynamics and external disturbances. The proposed controller is chattering-free and adaptive to the time-varying sys...
The dynamic characteristics of rigid-flexible manipulators involve complex rigid-flexible coupling phenomena, which essentially comprise a nonlinear distributed parameter system with infinite degrees of freedom. Consequently, it results in challenges...
Cooperative payload handling in aerospace applications requires multiple manipulators to maintain coordinated motion under nonlinear coupled dynamics, uncertainties, and communication constraints. However, accurate joint regulation alone cannot guara...
Unmanned aerial manipulators (UAMs), composed of unmanned aerial vehicles (UAVs) and manipulators, have great application potential in aerial manipulation like precision inspection, disaster rescue, etc. However, strong dynamic coupling exists betwee...
This article aims to develop a new Adaptive Proportional Integral Derivative (PID) Nonsingular Dual Terminal Sliding Mode Control, designed for tracking the position of robot manipulators under disturbances and uncertainties. Compared with existing P...
This paper presents a control method for the problem of trajectory jitter and poor tracking performance of the end of a three-joint rigid manipulator. The control is based on a high-order particle swarm optimization algorithm with an improved sliding...
With the rapid development of modern industry, robotic manipulators are required to achieve increasingly high trajectory-tracking accuracy and robustness in practical applications. To enhance tracking performance under complex operating conditions, t...
This paper addresses the trajectory tracking problem for a six-degree-of-freedom (6-DOF) underwater manipulator subject to complex disturbances and input saturation. It proposes a fixed-time preset performance sliding mode control method considering...
This paper introduces an Adaptive Dynamic Bounded Sliding Mode Control (ADBSMC) method that incorporates a disturbance observer to enhance the response characteristics of the robot manipulator while eliminating the reliance on a priori knowledge. The...
This study investigates the trajectory-tracking control problem of a two-degree-of-freedom underwater manipulator operating in a complex disturbance environment. A dynamic model of the multi-link serial manipulator is first established. In this study...
This paper presents a novel adaptive fixed-time sliding mode control (AFxTSMC) framework for industrial manipulators. The proposed adaptive reaching law (ARL) enables rapid and stable gain reduction by leveraging the current parameter values to maint...
This paper develops a new robust tracking control design for n-link robot manipulators with dynamic uncertainties, and unknown disturbances. The procedure is conducted by designing two adaptive interval type-2 fuzzy logic systems (AIT2-FLSs) to bette...
This paper proposes optimal sliding mode fault-tolerant control for multiple robotic manipulators in the presence of external disturbances and actuator faults. First, a quantitative prescribed performance control (QPPC) strategy is constructed, which...
To achieve manipulator trajectory tracking under uncertainties and external disturbances, this study develops a prescribed performance nonsingular sliding mode control strategy. A new sufficient condition for predefined-time stability is established...
This paper proposes a novel adaptive sliding mode control strategy for bionic aerial manipulators performing canopy-sampling tasks. Specifically, an adaptive neural barrier function-based fast terminal sliding mode control (BFASMC-NN) scheme is devel...
High-performance tracking control for the hydraulic manipulator should address the challenges of the uncertainties and unknowns associated with the electro-hydraulic servo system (EHSS). This paper presents an extended state observer-based chattering...
In this paper, a novel anti-windup prescribed performance terminal sliding mode control method is proposed for the fixed-time tracking problem of a nonholonomic constrained mobile deicing manipulator system with model uncertainty and external disturb...
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 sli...
Space manipulators are expected to perform more challenging missions in on-orbit service (OOS) systems, but there are some unique characteristics that are not found on ground-based robots, such as dynamic coupling between space bases and manipulators...
In this investigation, the adaptive fractional-order non-singular fixed-time terminal sliding mode (AFoFxNTSM) control for the uncertain dynamics of robotic manipulators with external disturbances is introduced. The idea of fractional-order non-singu...
In this paper, sliding mode tracking control and its chattering suppression method are investigated for flexible-joint robot manipulators with only state measurements of joint actuators. First, within the framework of singular perturbation theory, th...
This paper develops a fault-tolerant tracking control (FTC) for robot manipulators with prescribed performance subject to uncertainties and partial loss in effectiveness of actuators (UPEAs). First, an integral sliding manifold without reaching phase...
In this study, a fault-tolerant control (FTC) tactic using a sliding mode controller–observer method for uncertain and faulty robotic manipulators is proposed. First, a finite-time disturbance observer (DO) is proposed based on the sliding mode...
A new image-based robot visual servo control strategy based on a third-order sliding-mode observer (TOSM) model predictive control is proposed in this study. This new control strategy solves the problem of robot visual servo control with system const...
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