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Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

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Nonsingular predefined-time sliding mode trajectory tracking control for uncertain manipulator with predefined-time

Jun Nie¹, Lujiao Dong¹, Qiaoqiao Sun¹

¹College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, China.

ISA Transactions

|September 16, 2025

Summary

This study introduces a novel two-layer sliding mode control strategy for manipulators, achieving global trajectory tracking within a predefined time despite uncertainties and disturbances. The advanced control ensures robust performance and stability for robotic systems.

Keywords:

Anti-saturation compensator Extended state observer Manipulator Predefined-time Two-layer sliding mode control

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Area of Science:

Robotics and Control Systems
Advanced Control Theory
Mechatronics

Background:

Robotic manipulators face challenges from model uncertainties, external disturbances, and actuator limitations.
Accurate velocity estimation and disturbance rejection are critical for precise trajectory tracking.
Existing control methods often struggle with singularity issues and actuator saturation.

Purpose of the Study:

To develop a global predefined-time-embedded two-layer sliding mode control strategy for manipulators.
To address model uncertainties, exterior disturbances, unknown velocity measurements, and actuator saturation.
To achieve global trajectory tracking within a predefined time.

Main Methods:

A predefined-time extended state observer (PTESO) estimates unknown velocities and composite disturbances.
A two-layer sliding mode control incorporates a nonlinear predefined-time sliding mode control (PTSMC) with a piecewise nonlinear function to mitigate singularity.
A predefined-time anti-saturation compensator (PTASC) addresses actuator saturation, preserving tracking performance and stability.
Predefined-time stability theory and the Lyapunov method are used for stability verification and convergence analysis.

Main Results:

The PTESO successfully observes unknown velocity information and composite disturbances.
The two-layer PTSMC strategy effectively handles bounded perturbations and guarantees PTESO stability.
The PTASC mitigates actuator saturation effects, maintaining robust tracking and system stability.
The closed-loop system demonstrates predefined-time convergence and stability.

Conclusions:

The proposed control scheme achieves global trajectory tracking for manipulators within a predefined time.
The strategy effectively addresses model uncertainties, disturbances, unknown velocities, and actuator saturation.
Simulation results validate the remarkable effectiveness and practicality of the devised control approach.