An advanced robust sliding mode control scheme is proposed for linear systems. First, based on LMI technique the positive definite matrix which is key to construct the sliding surface is found , then a global integral-type sliding surface is constructed for the systems in the presence of both matched and unmatched uncertainties, then the global sliding mode controller is constructed for systems...

In order to apply the terminal sliding mode control to robot manipulators, prior knowledge of the exact upper bound of parameter uncertainties, and external disturbances is necessary. However, this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the robot. To resolve this problem in robot control, we propose...

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, present the recent advances in bimanual industrial manipulators have led to an increased interest specific problems pertaining dual arm manipulation. This paper presents a control algorithm for robot that can move object working plane both translation and rotation ways. Different from other research extend algorithms single because of fixed grasp assumption, has considered fricti...

This paper proposes an adaptive terminal sliding mode controller which combines adaptive control and sliding mode control to control a 2-link nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input a...