Adaptive backstepping nonsingular fast terminal sliding mode control for robotic manipulators based on disturbance observer.
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| Title: | Adaptive backstepping nonsingular fast terminal sliding mode control for robotic manipulators based on disturbance observer. |
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| 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 |
| FullText | Links: – Type: pdflink Text: Availability: 0 |
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| Header | DbId: enr DbLabel: Energy & Power Source An: 194007413 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Adaptive backstepping nonsingular fast terminal sliding mode control for robotic manipulators based on disturbance observer. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22ZHANG%2C+XIN%22">ZHANG, XIN</searchLink><relatesTo>1</relatesTo><i> zhangx@mail.lzjtu.cn</i><br /><searchLink fieldCode="AR" term="%22WANG%2C+XU%22">WANG, XU</searchLink><relatesTo>1</relatesTo> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Turkish+Journal+of+Electrical+Engineering+%26+Computer+Sciences%22">Turkish Journal of Electrical Engineering & Computer Sciences</searchLink>. 2026, Vol. 34 Issue 3, p453-471. 20p. – Name: Subject Label: Subject Terms Group: Su Data: *<searchLink fieldCode="DE" term="%22Backstepping+control+method%22">Backstepping control method</searchLink><br />*<searchLink fieldCode="DE" term="%22Sliding+mode+control%22">Sliding mode control</searchLink><br />*<searchLink fieldCode="DE" term="%22Uncertain+systems%22">Uncertain systems</searchLink><br />*<searchLink fieldCode="DE" term="%22Lyapunov+stability%22">Lyapunov stability</searchLink><br />*<searchLink fieldCode="DE" term="%22Observability+%28Control+theory%29%22">Observability (Control theory)</searchLink><br />*<searchLink fieldCode="DE" term="%22Manipulators+%28Machinery%29%22">Manipulators (Machinery)</searchLink><br />*<searchLink fieldCode="DE" term="%22Robotic+trajectory+control%22">Robotic trajectory control</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: 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] |
| PLink | https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=enr&AN=194007413 |
| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.55730/1300-0632.4185 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 20 StartPage: 453 Subjects: – SubjectFull: Backstepping control method Type: general – SubjectFull: Sliding mode control Type: general – SubjectFull: Uncertain systems Type: general – SubjectFull: Lyapunov stability Type: general – SubjectFull: Observability (Control theory) Type: general – SubjectFull: Manipulators (Machinery) Type: general – SubjectFull: Robotic trajectory control Type: general Titles: – TitleFull: Adaptive backstepping nonsingular fast terminal sliding mode control for robotic manipulators based on disturbance observer. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: ZHANG, XIN – PersonEntity: Name: NameFull: WANG, XU IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 05 Text: 2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 13000632 Numbering: – Type: volume Value: 34 – Type: issue Value: 3 Titles: – TitleFull: Turkish Journal of Electrical Engineering & Computer Sciences Type: main |
| ResultId | 1 |
