View in EDS HTML Full Text PDF Full Text

Nonsingular fast terminal sliding mode control based on a novel nonlinear disturbance observer for robotic systems.

Saved in:
Bibliographic Details
Title: Nonsingular fast terminal sliding mode control based on a novel nonlinear disturbance observer for robotic systems.
Authors: Song, Tangzhong1 (AUTHOR), Fang, Lijin1 (AUTHOR) jfang@mail.neu.edu.cn, Zhang, Yue2 (AUTHOR)
Source: Asian Journal of Control. Mar2026, Vol. 28 Issue 2, p696-709. 14p.
Subjects: Sliding mode control, Tracking control systems, Lyapunov stability, Manipulators (Machinery), Autonomous robots, Uncertain systems
Abstract: This paper delves into the problem of high‐precision tracking control for robotic systems, specifically addressing challenges posed by model uncertainties and external disturbances. To this end, a new nonsingular fast terminal sliding mode surface (NFTSM) with an unified structure is developed to circumvent singularity, without segmenting sliding manifold into multiple segments, which can improve steady‐state accuracy and reduce the complexity of the sliding surface. Following that, a Lyapunov stable controller characterized by a fast convergence law has been developed to stabilize the tracking errors to zero with bounded time. To address model uncertainties and external disturbances, a novel nonlinear disturbance observer (DO) is devised. The DO only has one adjusted parameter and can effectively estimate lumped disturbances to provide a feedforward compensation. Crucially, there is no requirement for upper bounds of disturbances and their derivatives during the design steps. Finally, the effectiveness and advantages of the proposed scheme are verified by extensive simulations and experiments conducted on a 7‐DOF robot manipulator. The results sufficiently illustrate that the proposed DO‐based sliding mode control scheme has high tracking accuracy, good robustness, and disturbance‐rejection abilities. [ABSTRACT FROM AUTHOR]
Copyright of Asian Journal of Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
Full text is not displayed to guests.
FullText Links:
  – Type: pdflink
Text:
  Availability: 1
Header DbId: egs
DbLabel: Engineering Source
An: 192204748
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
PreciseRelevancyScore: 0
IllustrationInfo
Items – Name: Title
  Label: Title
  Group: Ti
  Data: Nonsingular fast terminal sliding mode control based on a novel nonlinear disturbance observer for robotic systems.
– Name: Author
  Label: Authors
  Group: Au
  Data: <searchLink fieldCode="AR" term="%22Song%2C+Tangzhong%22">Song, Tangzhong</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Fang%2C+Lijin%22">Fang, Lijin</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> jfang@mail.neu.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Zhang%2C+Yue%22">Zhang, Yue</searchLink><relatesTo>2</relatesTo> (AUTHOR)
– Name: TitleSource
  Label: Source
  Group: Src
  Data: <searchLink fieldCode="JN" term="%22Asian+Journal+of+Control%22">Asian Journal of Control</searchLink>. Mar2026, Vol. 28 Issue 2, p696-709. 14p.
– Name: Subject
  Label: Subjects
  Group: Su
  Data: <searchLink fieldCode="DE" term="%22Sliding+mode+control%22">Sliding mode control</searchLink><br /><searchLink fieldCode="DE" term="%22Tracking+control+systems%22">Tracking control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Lyapunov+stability%22">Lyapunov stability</searchLink><br /><searchLink fieldCode="DE" term="%22Manipulators+%28Machinery%29%22">Manipulators (Machinery)</searchLink><br /><searchLink fieldCode="DE" term="%22Autonomous+robots%22">Autonomous robots</searchLink><br /><searchLink fieldCode="DE" term="%22Uncertain+systems%22">Uncertain systems</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: This paper delves into the problem of high‐precision tracking control for robotic systems, specifically addressing challenges posed by model uncertainties and external disturbances. To this end, a new nonsingular fast terminal sliding mode surface (NFTSM) with an unified structure is developed to circumvent singularity, without segmenting sliding manifold into multiple segments, which can improve steady‐state accuracy and reduce the complexity of the sliding surface. Following that, a Lyapunov stable controller characterized by a fast convergence law has been developed to stabilize the tracking errors to zero with bounded time. To address model uncertainties and external disturbances, a novel nonlinear disturbance observer (DO) is devised. The DO only has one adjusted parameter and can effectively estimate lumped disturbances to provide a feedforward compensation. Crucially, there is no requirement for upper bounds of disturbances and their derivatives during the design steps. Finally, the effectiveness and advantages of the proposed scheme are verified by extensive simulations and experiments conducted on a 7‐DOF robot manipulator. The results sufficiently illustrate that the proposed DO‐based sliding mode control scheme has high tracking accuracy, good robustness, and disturbance‐rejection abilities. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Asian Journal of Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
PLink https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=egs&AN=192204748
RecordInfo BibRecord:
  BibEntity:
    Identifiers:
      – Type: doi
        Value: 10.1002/asjc.3681
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 14
        StartPage: 696
    Subjects:
      – SubjectFull: Sliding mode control
        Type: general
      – SubjectFull: Tracking control systems
        Type: general
      – SubjectFull: Lyapunov stability
        Type: general
      – SubjectFull: Manipulators (Machinery)
        Type: general
      – SubjectFull: Autonomous robots
        Type: general
      – SubjectFull: Uncertain systems
        Type: general
    Titles:
      – TitleFull: Nonsingular fast terminal sliding mode control based on a novel nonlinear disturbance observer for robotic systems.
        Type: main
  BibRelationships:
    HasContributorRelationships:
      – PersonEntity:
          Name:
            NameFull: Song, Tangzhong
      – PersonEntity:
          Name:
            NameFull: Fang, Lijin
      – PersonEntity:
          Name:
            NameFull: Zhang, Yue
    IsPartOfRelationships:
      – BibEntity:
          Dates:
            – D: 01
              M: 03
              Text: Mar2026
              Type: published
              Y: 2026
          Identifiers:
            – Type: issn-print
              Value: 15618625
          Numbering:
            – Type: volume
              Value: 28
            – Type: issue
              Value: 2
          Titles:
            – TitleFull: Asian Journal of Control
              Type: main
ResultId 1