A tutorial account of variable structure control with sliding mode is presented. The purpose is
to introduce in a concise manner the fundamental theory, main results, and practical …

In this paper, a robust multi-input/multi-output (MIMO) terminal sliding mode control
technique is developed for n-link rigid robotic manipulators. It is shown that an MIMO …

In the face of large-scale parametric uncertainties, the single-model (SM)-based sliding
mode control (SMC) approach demands high gains for the observer, controller, and …

This paper presents an overview of robust control schemes for robot manipulators. The
survey summarizes the vast literature on the subject. The different modelling assumptions …

A time-varying sliding surface for a variable structure control (VSC) law is proposed to
achieve fast and robust tracking in a class of second-order uncertain dynamic systems. The …

Sliding mode control (SMC) of a general class of nonlinear control systems is considered in
this work. The conventional SMC technique requires knowledge of the upperbounds of …

This paper presents a fuzzy tuning approach to sliding mode control for tracking-
performance enhancement in a class of nonlinear systems. The sliding surface can rotate or …

In this paper, a class of nonlinear systems with uncertain parameters is considered. A novel
adaptive law is designed to identify unknown parameters under the assumption that the time …

A sliding-mode control algorithm combined with an adaptive scheme, which is used to
estimate the unknown parameter bounds, is developed for the trajectory control of robot …

Experimental verification of a recently developed algorithm, sliding mode control with
perturbation estimation (SMCPE), is performed, a two-axes planar SCARA type robot is used …