in this paper, a new smooth second order sliding mode control is proposed. this algorithm is a modified form of super twisting algorithm. the super twisting guarantees the asymptotic stability, but the finite time stability of proposed method is proved with introducing a new particular lyapunov function. the proposed algorithm which is able to control nonlinear systems with matched structured u...

This paper considers the problem of terminal sliding mode control (TSMC) for uncertain MIMO systems in which the actuator faults may happen in any channel of actuators. By means of state transformation and exponent-logarithmic sliding surface method, a reliable TSMC is proposed such that both the finite-time stability of sliding mode dynamics and the reachability of sliding surface are ensured,...

in this paper, the problem of finite time stabilization for guidance system is investigated and a novel nonlinear guidance law against maneuvering targets is proposed based on the principles of parallel navigation. the proposed law is developed using two variable structure control techniques. by applying finite time integral sliding mode and combining it with terminal sliding mode, a new guidan...

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...

In this paper, experimental study of robust control for robot manipulator actuated by pneumatic artificial muscles was realized. The experimented controller belonged to the class of variable structure systems which is called nonsingular terminal sliding mode (NTSM). The control approach is based on the time delay estimation method. First, the nonsingular terminal sliding mode control approach w...