Adaptive PD sliding mode control for robot dynamics using predefined-time approach Adaptive PD sliding mode control for robot dynamics

This study investigates adaptive predefined-time proportional–derivative terminal sliding mode control (APtPDSMC) for robotic manipulators subject to uncertainties and external disturbances. We propose a novel predefined-time PDSMC (PtPDSMC) scheme utilizing proportional–derivative control to achiev...

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Bibliographic Details
Published inInternational journal of dynamics and control Vol. 13; no. 3
Main Authors Ahmed, Saim, Azar, Ahmad Taher
Format Journal Article
LanguageEnglish
Published Berlin/Heidelberg Springer Berlin Heidelberg 01.03.2025
Subjects
Complexity
Control
Control and Systems Theory
Dynamical Systems
Engineering
Vibration
Robotic manipulator
Predefined-time control
Proportional–derivative SMC scheme
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Summary:This study investigates adaptive predefined-time proportional–derivative terminal sliding mode control (APtPDSMC) for robotic manipulators subject to uncertainties and external disturbances. We propose a novel predefined-time PDSMC (PtPDSMC) scheme utilizing proportional–derivative control to achieve guaranteed predefined-time convergence and superior tracking performance. Additionally, this approach reduces control input chattering, a common problem. Then, APtPDSMC is designed to not require previous knowledge of the boundaries of the uncertain system dynamics it estimates. By using the Lyapunov theorem, the predefined-time stability of the closed-loop system is established. Finally, the efficacy of the suggested APtPDSMC technique is confirmed by computer simulations applied to a robotic manipulator system.
ISSN:2195-268X
2195-2698
DOI:10.1007/s40435-025-01603-y