Adaptive super-twisting global nonsingular terminal sliding mode control for robotic manipulators

Adaptive super-twisting global nonsingular terminal sliding mode control for robotic manipulators | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Adaptive super-twisting global nonsingular terminal sliding mode control for robotic manipulators Chenchen Sun, Zhangmin Huang, Haiteng Wu This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-3085685/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 16 Feb, 2024 Read the published version in Nonlinear Dynamics → Version 1 posted 5 You are reading this latest preprint version Abstract This paper develops a novel global nonsingular terminal sliding mode control (GNTSMC) strategy based on an adaptive super-twisting algorithm (STA) for tracking control of robotic manipulators with uncertain perturbations. A novel global nonsingular terminal sliding manifold is designed to steer the system trajectory to reach the switching surface at the beginning, thereby removing the reaching stage and achieving strong robustness throughout the entire response. Moreover, the proposed sliding manifold can ensure the finite time convergence of the trajectory error to the origin. Then, an adaptive STA, which does not require the boundary information of the perturbations, is devised not only to attenuate the chattering effect without degrading the tracking precision, but also to guarantee the finite time stability of the system. Finally, the superiority of the adopted GNTSMC is validated by comparative studies. Global nonsingular terminal sliding mode control adaptive super-twisting algorithm finite time convergence chattering attenuation robotic manipulator Full Text Cite Share Download PDF Status: Published Journal Publication published 16 Feb, 2024 Read the published version in Nonlinear Dynamics → Version 1 posted Editorial decision: Major revisions 11 Sep, 2023 Reviewers agreed at journal 03 Jul, 2023 Reviewers invited by journal 03 Jul, 2023 Editor assigned by journal 22 Jun, 2023 First submitted to journal 19 Jun, 2023 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-3085685","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":215472799,"identity":"7ab413f9-bf9d-4bd2-add1-384d8a4c3f3d","order_by":0,"name":"Chenchen Sun","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA3klEQVRIie3RsQrCMBCA4SuFZIl2jRTrK0QCIvgyCYW6iODWwSEgZO2qz1Fwjgi6RFzdBeeOTmp1crJxE8y/HdzHDQfg8/1gKMSb85UhEgGIeg6bSRuTlEPeTjrKlSQRDGKwCWfmNTsQFIKIZ3ogy6O5UMhHUuGDaSCB4SudybUxGQU7lopMReMV0dI7ud6ojAZ6KxUlrIkw09J3WS6gJjc30l8QizhDT6KcCEmDZY4SaiEdit2YazL5THrFfn+tnq8srDxV81G3wPYzeYuI1zOR634dNl8s+3w+3z/1AK1sP2Dtsr5xAAAAAElFTkSuQmCC","orcid":"https://orcid.org/0000-0001-6647-6245","institution":"Zhejiang University","correspondingAuthor":true,"submittingAuthor":false,"prefix":"","firstName":"Chenchen","middleName":"","lastName":"Sun","suffix":""},{"id":215472800,"identity":"98b8b48f-ff26-4a7b-bcde-f13d00aa068e","order_by":1,"name":"Zhangmin Huang","email":"","orcid":"https://orcid.org/0000-0001-9294-4196","institution":"Zhejiang Lab","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Zhangmin","middleName":"","lastName":"Huang","suffix":""},{"id":215472801,"identity":"af839506-d734-4863-9637-bbaf7fb39fbd","order_by":2,"name":"Haiteng Wu","email":"","orcid":"","institution":"Hangzhou Shenhao Technology Co Ltd","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Haiteng","middleName":"","lastName":"Wu","suffix":""}],"badges":[],"createdAt":"2023-06-20 07:07:38","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-3085685/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-3085685/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.1007/s11071-024-09305-4","type":"published","date":"2024-02-16T15:01:10+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":51322922,"identity":"f1a479a9-1ff1-45d6-95d1-5281790e615a","added_by":"auto","created_at":"2024-02-19 15:13:10","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":690801,"visible":true,"origin":"","legend":"","description":"","filename":"manuscript.pdf","url":"https://assets-eu.researchsquare.com/files/rs-3085685/v1_covered_3abac8d1-e88b-487f-8a00-682c54758096.pdf"}],"financialInterests":"","formattedTitle":"Adaptive super-twisting global nonsingular terminal sliding mode control for robotic manipulators","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":true,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"nonlinear-dynamics","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"nody","sideBox":"Learn more about [Nonlinear Dynamics](https://www.springer.com/journal/11071)","snPcode":"11071","submissionUrl":"https://submission.nature.com/new-submission/11071/3","title":"Nonlinear Dynamics","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"Global nonsingular terminal sliding mode control, adaptive super-twisting algorithm, finite time convergence, chattering attenuation, robotic manipulator","lastPublishedDoi":"10.21203/rs.3.rs-3085685/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-3085685/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"This paper develops a novel global nonsingular terminal sliding mode control (GNTSMC) strategy based on an adaptive super-twisting algorithm (STA) for tracking control of robotic manipulators with uncertain perturbations. 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