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September 10, 2025Journal of Field Robotics

Adaptive‐Based Non‐Singular Terminal Sliding Mode Control of a Three DOF Spatial Robotic Manipulator

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Authors

KGKeyou GuoHJHaibing JiangJWJiangnan Wang

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Overview

Proposed control method improves trajectory tracking and disturbance rejection in robotics, enhancing overall performance.

Key Points

  • The proposed controller improves tracking accuracy by 73%, highlighting significant advancements in robotic control.
  • Specific convergence rates increased by up to 55%, demonstrating enhanced performance under disturbances.
  • A boundary layer technique effectively eliminates chattering phenomena, leading to smoother operation.
  • The methodology's robustness is validated through simulation and physical experiments, ensuring real-world applicability.

Cite This Study

Guo et al. (2025) studied this question.

synapsesocial.com/papers/68c1a27254b1d3bfb60ddec2https://doi.org/10.1002/rob.70033
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  2. 2Non‐Singular Fast Terminal Sliding Mode Control With Adaptive Reaching Law2026 · 1 citations
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  4. 4Trajectory tracking of robot manipulator with adaptive super-twisting non-singular terminal sliding mode controller2025 · 1 citations
  5. 5Robust trajectory tracking of a 3-DOF robotic arm using a Super-Twisting Fast finite time Non-singular Terminal Sliding Mode Control in the presence of perturbations2024 · 15 citations