in recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...

In this paper, we extend the sliding mode idea to a class of unmatched uncertain variable structure systems. This method is achieved with introducing a new terminal sliding variable and the finite time stability of proposed method is proved using a new particular finite time condition in both reaching and sliding phases. In reaching phase new sliding mode controller is derived to guarantee the ...

This paper proposes a finite-time controller for an unmanned aerial vehicle in the presence of Figures/uncertainties using fractional-order terminal sliding mode. First, contrary to existing backstepping mode controllers, this introduces new control approach quadrotor position control, which is based on fast control. Using appropriate surface, tracking error converges zero finite time while pro...

Background: As a control strategy of industrial robots, sliding mode has the advantages fast response and simple physical implementation, but it still problems chattering low tracking accuracy caused by chattering. This paper proposes new for application robot control, which effectively solves these problems. Methods: In this paper, deep deterministic policy gradient–nonlinear nonsingular termi...