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<p>Recently, the intelligent control techniques for robotic arms are increasingly enhancing operational efficiency and automation in the smart manufacturing. As a result, a method of Non-singular Terminal Sliding Mode Control (NTSMC) intergrated Extended State Observer (ESO) is proving to be significantly more effective than traditional approaches like PID, Neural Network and Fuzzy Logic control, as they improve robustness and effectively handle modeling uncertainties and external disturbances. This study investigates the composite robust controller to deal with the external disturbances and modelling uncertainties for the robot manipulator. Firstly, the extended state observer is introduced to estimate the unknown lumped uncertain ties for the nonlinear robot system. Next, the nonsingular terminal sliding mode control is proposed that incorporates the estimated value from the extended state observer to compensate for the unknown components. The Lyapunov stability is then proved to guarantee that the system state converges to the neighbour hood of the origin in a finite time. Finally, experimental results demonstrate the effectiveness of the proposed method.</p>

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A Novel Composite Nonsingular Terminal Sliding Mode Control with Lumped Uncertainties Observer for Robot Manipulator: From Theory to Experiment

  • 期刊论文

  • 发表日期：

    2026年2月16日

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  • Anh-Duc Pham,
  • Nhu Thanh Vo

摘要

Recently, the intelligent control techniques for robotic arms are increasingly enhancing operational efficiency and automation in the smart manufacturing. As a result, a method of Non-singular Terminal Sliding Mode Control (NTSMC) intergrated Extended State Observer (ESO) is proving to be significantly more effective than traditional approaches like PID, Neural Network and Fuzzy Logic control, as they improve robustness and effectively handle modeling uncertainties and external disturbances. This study investigates the composite robust controller to deal with the external disturbances and modelling uncertainties for the robot manipulator. Firstly, the extended state observer is introduced to estimate the unknown lumped uncertain ties for the nonlinear robot system. Next, the nonsingular terminal sliding mode control is proposed that incorporates the estimated value from the extended state observer to compensate for the unknown components. The Lyapunov stability is then proved to guarantee that the system state converges to the neighbour hood of the origin in a finite time. Finally, experimental results demonstrate the effectiveness of the proposed method.