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<p>This study investigates adaptive predefined-time proportional–derivative terminal sliding mode control (APtPDSMC) for robotic manipulators subject to uncertainties and external disturbances. We propose a novel predefined-time PDSMC (PtPDSMC) scheme utilizing proportional–derivative control to achieve guaranteed predefined-time convergence and superior tracking performance. Additionally, this approach reduces control input chattering, a common problem. Then, APtPDSMC is designed to not require previous knowledge of the boundaries of the uncertain system dynamics it estimates. By using the Lyapunov theorem, the predefined-time stability of the closed-loop system is established. Finally, the efficacy of the suggested APtPDSMC technique is confirmed by computer simulations applied to a robotic manipulator system.</p>

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Adaptive PD sliding mode control for robot dynamics using predefined-time approach

  • 期刊论文

  • 发表日期：

    2025年2月11日

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  • Saim Ahmed,
  • Ahmad Taher Azar

摘要

This study investigates adaptive predefined-time proportional–derivative terminal sliding mode control (APtPDSMC) for robotic manipulators subject to uncertainties and external disturbances. We propose a novel predefined-time PDSMC (PtPDSMC) scheme utilizing proportional–derivative control to achieve guaranteed predefined-time convergence and superior tracking performance. Additionally, this approach reduces control input chattering, a common problem. Then, APtPDSMC is designed to not require previous knowledge of the boundaries of the uncertain system dynamics it estimates. By using the Lyapunov theorem, the predefined-time stability of the closed-loop system is established. Finally, the efficacy of the suggested APtPDSMC technique is confirmed by computer simulations applied to a robotic manipulator system.