%0 Journal Article
%T A simple non
%A Liyin Zhang
%A Yuxin Su
%A Zeng Wang
%J Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
%@ 2041-3041
%D 2019
%R 10.1177/0959651818806797
%X This article presents an improved robust tracking control for uncertain robot manipulators. An approximate terminal sliding mode control is proposed by integrating a terminal sliding surface with a novel nonlinear function. Lyapunov stability theory is employed to prove the global approximate finite-time stability ensuring that the tracking errors can globally converge to an arbitrary small ball centred at the origin within a finite time and thereafter arrive at the origin asymptotically. The benefits of this integrated design are that it can ensure fast transient and high steady-state tracking precision. Extensive simulations and experimental results are presented to demonstrate the effectiveness and improved performance of the proposed approach
%K Robot manipulators
%K terminal sliding mode control
%K finite-time stability
%K robust control
%K uncertain systems
%U https://journals.sagepub.com/doi/full/10.1177/0959651818806797