This paper considers the problem of terminal sliding mode control (TSMC) for uncertain MIMO systems in which the actuator faults may happen in any channel of actuators. By means of state transformation and exponent-logarithmic sliding surface method, a reliable TSMC is proposed such that both the finite-time stability of sliding mode dynamics and the reachability of sliding surface are ensured,...

in this paper, the problem of finite time stabilization for guidance system is investigated and a novel nonlinear guidance law against maneuvering targets is proposed based on the principles of parallel navigation. the proposed law is developed using two variable structure control techniques. by applying finite time integral sliding mode and combining it with terminal sliding mode, a new guidan...

This paper addresses the fixed-time stability analysis of a mobile unicycle-like system (UTMS) with chained shape dynamics (CFD) and subjected to unknown matched uncertainties. To achieve stabilization nonholonomic (NS) in CFD, an adaptive nonsingular fast terminal sliding mode control scheme (ANFTSMC) is proposed. determine upper bounds disturbances, only velocity position measurements are req...

This study presented an improved adaptive nonlinear terminal sliding mode control technique for the manipulator robot to achieve better adaptability and faster finite-time convergence. First, self-updating algorithm will be developed relax problems of fixed gain main proposed controller. Next, neural network estimator is applied by estimating dynamics increase tracking performance. In addition,...

In this paper, experimental study of robust control for robot manipulator actuated by pneumatic artificial muscles was realized. The experimented controller belonged to the class of variable structure systems which is called nonsingular terminal sliding mode (NTSM). The control approach is based on the time delay estimation method. First, the nonsingular terminal sliding mode control approach w...

This paper studies the transient and steady performance constraints on flexible joint manipulator system with exogenous disturbance, proposes a fixed-time prescribe tracking control method based singular perturbation model. For fast subsystem, subcontroller superior is proposed that guarantees suppression of vibration in fixed-time. The remaining slow subsystem can be linked rigid methods to ac...