What question did this study set out to answer?

The aim is to improve the tracking accuracy and energy efficiency of robotic manipulators in logistics automation.

Robust Terminal Sliding Mode Control of Robotic Manipulators in Logistics Automation

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Randomized trial demonstrates improved tracking and energy efficiency in robotic manipulators, indicating enhanced operational reliability.

The aim is to improve the tracking accuracy and energy efficiency of robotic manipulators in logistics automation.
Developed an adaptive sliding mode controller with non-singular terminals (ANTSMC)
Introduced a terminal sliding surface and adaptive switching-gain law for enhanced robustness
Performed simulations comparing A-NTSMC against traditional sliding mode and PID controllers
The A-NTSMC achieved better tracking errors and disturbance rejection compared to sliding mode and PID controllers
Lyapunov analysis confirmed finite-time convergence and torque limits
Overall performance improved, showcasing increased throughput and operational reliability in logistics

Khorchani et al. (2026) studied this question.

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Randomized trial demonstrates improved tracking and energy efficiency in robotic manipulators, indicating enhanced operational reliability.