2022
DOI: 10.1002/acs.3445
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Time‐varying nonsingular terminal sliding mode control for uncertain second‐order nonlinear systems with prespecified time

Abstract: This article proposes a time‐varying nonsingular terminal sliding mode (TSM) control for a class of uncertain second‐order nonlinear system and its application to n‐links rigid robotic manipulators. First, a time‐varying nonsingular terminal sliding manifold is developed by incorporating a piecewise‐defined function of time into a nonsingular TSM manifold. As a result, the singularity problem is avoided and the reaching phase existing in conventional TSM control is totally suppressed which ensures the global r… Show more

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Cited by 10 publications
(6 citation statements)
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“…As a result, the reaching phase is completely eliminated, leading to improved robustness of the system. In this paper, this characteristic is referred to as global robustness, which is documented in [48][49][50][51][52][53][54][55][56].…”
Section: Control Designmentioning
confidence: 99%
See 2 more Smart Citations
“…As a result, the reaching phase is completely eliminated, leading to improved robustness of the system. In this paper, this characteristic is referred to as global robustness, which is documented in [48][49][50][51][52][53][54][55][56].…”
Section: Control Designmentioning
confidence: 99%
“…Consequently, eliminating this phase would result in significant improvements in system robustness and reduced energy consumption. Recognizing these advantages, it becomes imperative to explore a more advanced concept known as time-varying sliding mode, which has been extensively studied in references [48][49][50][51][52][53][54][55][56].…”
Section: Introductionmentioning
confidence: 99%
See 1 more Smart Citation
“…Fixed‐time stability theory was first proposed by Polyakov in Reference 14. Different from finite‐time convergence, the upper bound of the convergence time is a bounded constant and independent of the system initial conditions 15 . Based on the fixed‐time convergence strategy, several fixed‐time TSMC methods for different applications are proposed in the literature.…”
Section: Introductionmentioning
confidence: 99%
“…Different from finite-time convergence, the upper bound of the convergence time is a bounded constant and independent of the system initial conditions. 15 Based on the fixed-time convergence strategy, several fixed-time TSMC methods for different applications are proposed in the literature. Nevertheless, the traditional fixed-time TSMC still has two main disadvantages.…”
Section: Introductionmentioning
confidence: 99%