Terminal sliding mode control for rigid robots

Finite-time synchronization of drive-response systems via periodically intermittent adaptive control

“…Obviously, when θ = 1, the intermittent control (3.2) is degenerated to a continuous control input which has been extensively proposed in previous work (see [15,[41][42][43][44][45][46][47][48]). …”

“…[41][42][43][44][45][46][47][48] can be easily analogized from the simplified criteria despite model differences. , if we fixed the k, then we have,…”

Robust finite-time control approach for robotic manipulators

“…In the rest of this section, the second theorem of this paper will address this problem by using the results on differential inequalities [28,29] (Definition 2, Lemma 4 and Lemma 5 in Appendix).…”

“…Since it requires uniqueness of the solution in forward time, control law (5) can only be used in some special robots such as prismatic joint robots. By employing the results on differential inequalities [28,29], Theorem 2 can guarantee the finite-time stability of robot control systems without requiring the uniqueness of solution in forward time condition. Then control law (17) proposed by this paper can be applied to more general robot manipulators.…”

“…Based on the results of finite-time Lyapunov stability [18,19] and differential inequalities [28,29], the proposed approach can stabilize the tracking errors to zero in a finite time. In addition to solving the two challenging problems presented by [25], system uncertainties are addressed explicitly in this study.…”