In this paper, a novel fault-tolerant control tactic for robot manipulator systems using only position measurements is proposed. The proposed algorithm constructed based on combination of nonsingular fast terminal sliding mode (NFTSMC) and high-speed third-order observer (TOSMO). the first step, TOSMO time to approximate both system velocity lumped unknown input with faster convergence compared...

This paper proposes a second-order terminal sliding mode control for a class of uncertain input-delay systems. The input-delay systems are firstly converted into the input-delay free systems and further converted into the regular forms. A linear sliding mode manifold is predesigned to represent the ideal dynamics of the system. Another terminal sliding mode manifold surface is presented to driv...

In this paper, an almost new control approach called terminal synergetic control which works based on user defined manifold is applied to a nonlinear helicopter model. Stability analysis is convestigated using Lyapunov stability theory. Synergetic controller is applied to this nonlinear fifth-order helicopter model to control height and angle. Simulation results showed that it has faster and sm...

This study proposes a tele-aiming control strategy for the ground reconnaissance robot to track maneuvering target rapidly in presence of dynamic uncertainties, sensory measurement noises, and time-varying external disturbances. First, trajectory generated by human–computer interaction (HCI) device is filtered with tracking differentiator recursive average filter. Second, inertial impact force ...

The article proposes a model-free sliding mode prescribed performance control method for robotic manipulator. For accelerating the errors converging rate as well bringing down real-time torque, an error-driven nonsingular fast terminal is employed in this method. Besides, modified power reaching law newly designed, which able to offer better chattering elimination than traditional law. To solve...

In this study, to achieve high trajectory tracking performance in electro-optical systems under strong nonlinear disturbances and uncertainties, we develop a extended state observer (ESO) based fractional-order sliding mode control. When compared with previous work, the new compound control strategy is attractive terms of following three points. First, novel controller developed that integrates...

Based on the consideration of optimizing speed piecewise and transitioning smoothly, a hybrid position sensorless control strategy integrating with novel nonsingular fast terminal sliding mode observer (NFTSMO) current-frequency (I-F) method for surface-mounted permanent magnet synchronous motor (PMSM) is proposed in this paper. In zero-low regions, I-F employed starting steadily possessing abi...

In this paper, a new terminal sliding mode control approach is developed for robotic manipulators. Unlike traditional terminal sliding mode control, the proposed approach can make system states converge to zero in a finite time without requiring explicitly using of system dynamic model. Theoretical analysis and simulation results are presented to illustrate the proposed approach. The controller...

A novel composite terminal guidance law with impact angle constraints is proposed for supercavitating torpedoes to intercept maneuvering warships. Based on an adaptive super-twisting algorithm and nonsingular sliding mode (NTSM), the can guarantee finite-time convergence of line-of-sight (LOS) error LOS angular rate error. The new a combination stability theory, control (SMC), tracking differen...

In this paper, we mainly aimed to design a reduced-order extended state observer-based active vibration controller for structural control system with total disturbances, i.e., model uncertainties, higher harmonics, and external excitations. A observer (RESO)-based nonsingular terminal sliding mode (RESO–NTSMVC) method is proposed the suppression of an all-clamped plate structure inertial actuat...