Adaptive backstepping nonsingular fast terminal sliding mode control for robotic manipulators based on disturbance observer.

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Bibliographic Details
Title:	Adaptive backstepping nonsingular fast terminal sliding mode control for robotic manipulators based on disturbance observer.
Authors:	ZHANG, XIN¹ zhangx@mail.lzjtu.cn, WANG, XU¹
Source:	Turkish Journal of Electrical Engineering & Computer Sciences. 2026, Vol. 34 Issue 3, p453-471. 20p.
Subject Terms:	Backstepping control method, Sliding mode control, Uncertain systems, Lyapunov stability, Observability (Control theory), Manipulators (Machinery), *Robotic trajectory control
Abstract:	This paper presents an adaptive backstepping nonsingular fast terminal sliding mode controller integrated with a nonlinear disturbance observer to achieve precise trajectory tracking of robotic manipulators subject to model uncertainties and unknown time-varying disturbances. A dead-zone--based adaptive gain mechanism is introduced to dynamically adjust the control gain according to the deviation of the sliding surface, thereby enhancing robustness and reducing chattering. The proposed reaching law ensures fast, nonsingular, and adaptive convergence, suppressing high-frequency oscillations without compromising stability and the nonlinear disturbance observer enables real-time estimation and compensation of modeling errors, friction, and external disturbances for superior rejection. The semiglobal uniform ultimate boundedness of the closed-loop system is rigorously proven using Lyapunov theory. Simulation results confirm that the proposed method achieves higher tracking accuracy, faster convergence, and better robustness compared with conventional controllers. [ABSTRACT FROM AUTHOR]
Database:	Energy & Power Source

Description
Abstract:	This paper presents an adaptive backstepping nonsingular fast terminal sliding mode controller integrated with a nonlinear disturbance observer to achieve precise trajectory tracking of robotic manipulators subject to model uncertainties and unknown time-varying disturbances. A dead-zone--based adaptive gain mechanism is introduced to dynamically adjust the control gain according to the deviation of the sliding surface, thereby enhancing robustness and reducing chattering. The proposed reaching law ensures fast, nonsingular, and adaptive convergence, suppressing high-frequency oscillations without compromising stability and the nonlinear disturbance observer enables real-time estimation and compensation of modeling errors, friction, and external disturbances for superior rejection. The semiglobal uniform ultimate boundedness of the closed-loop system is rigorously proven using Lyapunov theory. Simulation results confirm that the proposed method achieves higher tracking accuracy, faster convergence, and better robustness compared with conventional controllers. [ABSTRACT FROM AUTHOR]
ISSN:	13000632
DOI:	10.55730/1300-0632.4185