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    Area of Science:

    • Control Systems Engineering
    • Robotics
    • Nonlinear Control Theory

    Background:

    • Existing sliding-mode controllers often require prior knowledge of disturbance bounds.
    • Singularity issues and slow convergence rates are common challenges in control systems.
    • Second-order disturbed systems require robust and efficient control strategies.

    Purpose of the Study:

    • To propose a novel finite-time continuous nonsingular terminal modified adaptive-gain super-twisting control (FT-CNT-MAG-STC).
    • To enhance control performance by achieving fast finite-time convergence and a continuous control signal.
    • To relax the assumption on the knowledge of disturbance and its derivative bounds.

    Main Methods:

    • Development of a fast nonsingular terminal sliding surface to avoid singularity and improve convergence.
    • Design of a continuous modified super-twisting algorithm with adaptive gain.
    • Rigorous mathematical analysis to prove finite-time convergence of system states.

    Main Results:

    • The proposed FT-CNT-MAG-STC framework demonstrates fast finite-time convergence.
    • The controller provides a continuous control signal, enhancing practical implementation.
    • The need for disturbance and its derivative bounds information is relaxed, simplifying application.

    Conclusions:

    • The FT-CNT-MAG-STC is effective for second-order disturbed systems, particularly in robot manipulator position control.
    • The proposed method offers significant improvements over existing sliding-mode controllers.
    • Experimental validation confirms the effectiveness and robustness of the developed control strategy.