A continuous nonsingular fast terminal sliding mode (CNFTSM) control strategy with an automated double power reaching law is proposed to improve the performance of speed dynamic response and accuracy tracking for permanent magnet synchronous motor (PMSM) servo system. In pursuit robustness against system uncertainties, a finite-time convergent extended state observer (ESO) designed estimate ext...

This paper, proposes a methodology to implement a suitable nonsingular terminal sliding mode controller associated with the output feedback control to achieve a successful trajectory tracking of a non-holonomic wheeled mobile robot in presence of longitudinal and lateral slip accompanied. This implementation offers a relatively faster and high precision tracking performance. We investigate this...

In this paper, the terminal sliding mode tracking control is proposed for the uncertain single-input and single-output (SISO) nonlinear system with unknown external disturbance. For the unmeasured disturbance of nonlinear systems, terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to zero in t...

In this paper, we propose a cubic spline interpolation method to generate desired curve path and present an integral line of sight (ILOS) control strategy for course tracking based on nonsingular terminal sliding mode enable underwater snake-like robot (USR) move towards follow the generated by parametric cubic-spline (PCSI) path-planning method, while considering disturbances caused ocean curr...

In this paper, a non-negative adaptive mechanism based on an nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators with the existence of unknown bounded complex uncertainties external disturbances. The approach hybrid scheme online mechanism, differentiator, (NFTSMC). Based can remove assumption that ...

Sliding mode control (SMC) has been a very popular technology due to its simplicity and robustness against uncertainties disturbances since inception more than 60 years ago. Its foundation of stability stabilization is built on the principle Lyapunov theory which ascertains asymptotic stability. In 1990s, novel class SMC, called terminal sliding (TSMC), was proposed studied applied extensively,...

In this article, a novel multi-objective modified fractional-order nonsingular terminal sliding mode (MFONTSM) controller is designed for the flexible spacecraft attitude control and passive vibration suppression, assuming torque saturation in system dynamics. Then, by considering effects of components on appendages modal equation as an external disturbance, active FONTSM separately to suppress...

This paper presents a trajectory tracking control method for nonholonomic mobile robot which is based only on kinematic model. A mobile robot trajectory tracking control method, based on terminal sliding mode control, with asymptotic stability is presented. Based on kinematic model of mobile robot, a terminal sliding mode control law for the angular velocity is proposed to reduce the tracking e...