Sliding mode control (SMC) has been a very popular control technology due to its simplicity
and robustness against uncertainties and disturbances since its inception more than 60 …

This paper studies the trajectory tracking control problem for autonomous underwater
vehicles (AUVs) subject to external disturbances and model uncertainties. To improve the …

Flexible joint robot (FJR) manipulators can offer many attractive features over rigid
manipulators, including light weight, safe operation, and high power efficiency. However, the …

This article presents a new cascaded extended state observer (CESO)-based sliding-mode
control (SMC) for an underactuated flexible joint robot (FJR). The control of the FJR has …

This brief investigates the trajectory tracking problem of n-link robotic manipulators with
internal uncertainties and external disturbances. At first, a novel non-singular terminal …

The second-order sliding mode (SOSM) controller design problem for a class of sliding
mode dynamics subject to an upper-triangular structure has been discussed in this paper …

Compliant actuators can offer many attractive features over stiff actuators in real human-
robot interaction applications, such as low output impedance, smooth force transmission …

This article presents a robust finite-time command-filtered backstepping control strategy for
flexible-joint robotic systems with only position measurements. To the best of our knowledge …

This article proposes and experimentally validates a new chattering-free fixed-time robust
sliding mode controller for the grid-connected three-phase two-level inverter through an RL …

This paper proposes a robust finite-time control scheme for the high-precision tracking
problem of (FJRs) with various types of unpredictable disturbances. Specifically, based on a …