Abstract
This chapter proposes a model-independent fixed-time tracking control for nonlinear rigid robotic dynamical systems. The proposed controller design scheme utilizes time delay estimation (TDE) and a fixed-time fast terminal sliding mode control (FxFTSM). The TDE is specifically designed to estimate the unknown nonlinear dynamics of robotic manipulators, including uncertainties and bounded external disturbances. The Lyapunov criterion is used to investigate the fixed-time stability and analyze the behavior of the resultant closed-loop control system. Finally, computer simulations of the proposed method are performed on the uncertain dynamics of the 2-DOF (degree of freedom) robotic manipulator.
| 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 | 5 |
| Pages | 133-158 |
| Number of pages | 26 |
| Edition | 1 |
| ISBN (Electronic) | 9780443301070 |
| ISBN (Print) | 9780443301063 |
| DOIs | |
| Publication status | Published - 29 Jan 2026 |
Keywords
- control systems
- fixed-time control
- Model-independent control
- robotic manipulators
- robotics
- sliding mode control
- time delay estimation
ASJC Scopus subject areas
- General Engineering
- General Computer Science
Fingerprint
Dive into the research topics of 'Time-delay estimation with a fixed-time sliding mode control for uncertain rigid robot dynamics'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver