An improved non-singular fast terminal sliding mode control (INFTSMC) is proposed in this study, to improve the dynamic speed regulation and tracking accuracy of a surface-mounted permanent magnet synchronous motor (SPMSM) system. A surface that completely removes singularities from controller input proposed. The key characteristics INFTSMC are convergence errors, high accuracy, robustness agai...

Hector M. Gutierrez Florida Institute of Technology 18.1 Sliding Mode Controller Design–An Overview 18.2 The Sliding Mode Formulation of the Robot Manipulator Motion Control Problem 18.3 Equivalent Control and Chatter Free Sliding Control 18.4 Control of Robotic Manipulators by Continuous Sliding Mode Laws Sliding Mode Formulation of the Robotic Manipulator Motion Control Problem • Sliding Mode...