Proportional-derivative control for nonlinear robot dynamics using adaptive finite-time approach

Saim Ahmed; Ahmad Taher Azar; Imran Ghous; V. P. Meena; Amar Bousbaine; Arezki Fekik; Hassène Gritli; Jyotindra Narayan

doi:10.1016/b978-0-443-30106-3.00016-6

Proportional-derivative control for nonlinear robot dynamics using adaptive finite-time approach

Saim Ahmed
, Ahmad Taher Azar
, Imran Ghous
, V. P. Meena
, Amar Bousbaine
, Arezki Fekik
, Hassène Gritli
, Jyotindra Narayan

Prince Sultan University (PSU)
Amrita Vishwa Vidyapeetham
University of Derby
Open University Milton Keynes
Centrale Nantes
Akli Mohand Oulhadj University of Bouira
University of Carthage
Université de Tunis El Manar
University of Bayreuth
Imperial College London
Indian Institute of Technology Guwahati

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

Abstract

This work explores adaptive proportional-derivative terminal sliding mode control (APDTSM) for robotic manipulators subject to uncertainties and unknown external disturbances. We first propose a novel finite-time PDTSM control scheme that utilizes proportional-derivative control to achieve fast convergence, superior tracking performance, and eliminate control input chattering. Subsequently, an APDTSM scheme is introduced to estimate the unknown system dynamics, including uncertainties, without requiring prior knowledge of their upper bounds. The finite-time stability of the closed-loop system is then established through Lyapunov stability analysis. Finally, computer simulation results are presented to validate the efficacy of the proposed APDTSM approach, and the proposed scheme is compared with the existing control TSM method.

Original language	English
Title of host publication	Modeling, Dynamics and Control approaches for Modern Robotics
Editors	Ahmad Taher Azar, Arezki Fekik
Publisher	Elsevier B.V.
Chapter	15
Pages	533-560
Number of pages	28
Edition	1
ISBN (Electronic)	9780443301070
ISBN (Print)	9780443301063
DOIs	https://doi.org/10.1016/b978-0-443-30106-3.00016-6
Publication status	Published - 29 Jan 2026

Keywords

adaptive control
control systems
Finite-time control
proportional-derivative control
robotic system
robotics
sliding mode control

ASJC Scopus subject areas

General Engineering
General Computer Science

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10.1016/b978-0-443-30106-3.00016-6

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Ahmed, S., Azar, A. T., Ghous, I., Meena, V. P., Bousbaine, A., Fekik, A., Gritli, H., & Narayan, J. (2026). Proportional-derivative control for nonlinear robot dynamics using adaptive finite-time approach. In A. T. Azar, & A. Fekik (Eds.), Modeling, Dynamics and Control approaches for Modern Robotics (1 ed., pp. 533-560). Elsevier B.V.. https://doi.org/10.1016/b978-0-443-30106-3.00016-6

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title = "Proportional-derivative control for nonlinear robot dynamics using adaptive finite-time approach",

abstract = "This work explores adaptive proportional-derivative terminal sliding mode control (APDTSM) for robotic manipulators subject to uncertainties and unknown external disturbances. We first propose a novel finite-time PDTSM control scheme that utilizes proportional-derivative control to achieve fast convergence, superior tracking performance, and eliminate control input chattering. Subsequently, an APDTSM scheme is introduced to estimate the unknown system dynamics, including uncertainties, without requiring prior knowledge of their upper bounds. The finite-time stability of the closed-loop system is then established through Lyapunov stability analysis. Finally, computer simulation results are presented to validate the efficacy of the proposed APDTSM approach, and the proposed scheme is compared with the existing control TSM method.",

keywords = "adaptive control, control systems, Finite-time control, proportional-derivative control, robotic system, robotics, sliding mode control",

author = "Saim Ahmed and Azar, \{Ahmad Taher\} and Imran Ghous and Meena, \{V. P.\} and Amar Bousbaine and Arezki Fekik and Hass{\`e}ne Gritli and Jyotindra Narayan",

year = "2026",

month = jan,

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doi = "10.1016/b978-0-443-30106-3.00016-6",

language = "English",

isbn = "9780443301063",

pages = "533--560",

editor = "Azar, \{Ahmad Taher \} and Fekik, \{Arezki \}",

booktitle = "Modeling, Dynamics and Control approaches for Modern Robotics",

publisher = "Elsevier B.V.",

address = "Netherlands",

edition = "1",

}

Proportional-derivative control for nonlinear robot dynamics using adaptive finite-time approach. / Ahmed, Saim; Azar, Ahmad Taher; Ghous, Imran et al.
Modeling, Dynamics and Control approaches for Modern Robotics. ed. / Ahmad Taher Azar; Arezki Fekik. 1. ed. Elsevier B.V., 2026. p. 533-560.

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

TY - CHAP

T1 - Proportional-derivative control for nonlinear robot dynamics using adaptive finite-time approach

AU - Ahmed, Saim

AU - Azar, Ahmad Taher

AU - Ghous, Imran

AU - Meena, V. P.

AU - Bousbaine, Amar

AU - Fekik, Arezki

AU - Gritli, Hassène

AU - Narayan, Jyotindra

PY - 2026/1/29

Y1 - 2026/1/29

N2 - This work explores adaptive proportional-derivative terminal sliding mode control (APDTSM) for robotic manipulators subject to uncertainties and unknown external disturbances. We first propose a novel finite-time PDTSM control scheme that utilizes proportional-derivative control to achieve fast convergence, superior tracking performance, and eliminate control input chattering. Subsequently, an APDTSM scheme is introduced to estimate the unknown system dynamics, including uncertainties, without requiring prior knowledge of their upper bounds. The finite-time stability of the closed-loop system is then established through Lyapunov stability analysis. Finally, computer simulation results are presented to validate the efficacy of the proposed APDTSM approach, and the proposed scheme is compared with the existing control TSM method.

AB - This work explores adaptive proportional-derivative terminal sliding mode control (APDTSM) for robotic manipulators subject to uncertainties and unknown external disturbances. We first propose a novel finite-time PDTSM control scheme that utilizes proportional-derivative control to achieve fast convergence, superior tracking performance, and eliminate control input chattering. Subsequently, an APDTSM scheme is introduced to estimate the unknown system dynamics, including uncertainties, without requiring prior knowledge of their upper bounds. The finite-time stability of the closed-loop system is then established through Lyapunov stability analysis. Finally, computer simulation results are presented to validate the efficacy of the proposed APDTSM approach, and the proposed scheme is compared with the existing control TSM method.

KW - adaptive control

KW - control systems

KW - Finite-time control

KW - proportional-derivative control

KW - robotic system

KW - robotics

KW - sliding mode control

UR - https://www.scopus.com/pages/publications/105033782962

U2 - 10.1016/b978-0-443-30106-3.00016-6

DO - 10.1016/b978-0-443-30106-3.00016-6

M3 - Chapter

AN - SCOPUS:105033782962

SN - 9780443301063

SP - 533

EP - 560

BT - Modeling, Dynamics and Control approaches for Modern Robotics

A2 - Azar, Ahmad Taher

A2 - Fekik, Arezki

PB - Elsevier B.V.

ER -

Proportional-derivative control for nonlinear robot dynamics using adaptive finite-time approach

Abstract

Keywords

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