in this paper, an optimal adaptive fuzzy integral sliding mode control is presented to control the robot manipulator position tracking in the presence of uncertainties and permanent magnet dc motor. in the proposed control, sliding surface of the sliding mode control is defined according to the information of position tracking error, derivatives, and error integral. in order to estimate bounds ...

A global non-singular terminal sliding mode controller for second order uncertain nonlinear dynamic systems, which enables enables finite time reachibility and elimination of the singularity problem associated with conventional terminal sliding mode control. The tracking precision problem is also explored. The relationship between the tracking precision and the width of the saturation function ...

An improved Time Delay Control (TDC) method for an Underwater Vehicle-Manipulator System (UVMS) is proposed. The proposed controller consists of three terms: a time-delay-estimation term that cancels nonlinearities of the UVMS dynamics, a Terminal Sliding Mode (TSM) term that provides a fast response and a PID term that reduces the tracking error. In addition the proposed controller uses fuzzy ...

The problem of attitude consensus control is addressed for multiple rigid spacecraft under a fixed interaction network where only subset followers can obtain the leader's state information. To estimate and angular velocity leader, group distributed finite-time observers constructed each follower. Then fast non-singular terminal sliding mode controllers are proposed based on observed Rigorous pr...

Abstract System uncertainties and external disturbances are the major causes of trajectory tracking performance degradation in nonholonomic wheeled mobile robots (NWMRs). In this article, an adaptive fast nonsingular terminal sliding mode dynamic control (AFNTSMDC) method is proposed to provide enhanced robust finite-time for NWMR. The AFNTSMDC a systematic design based upon both kinematic mode...