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Fast integral terminal synchronous sliding mode control for pantograph robots.

Muhammad Ali Hassan1, Zhenwei Cao1, Kamal Rsetam2

  • 1School of Science, Computing and Engineering Technologies, Swinburne University of Technology, Melbourne, VIC 3122, Australia.

ISA Transactions
|December 25, 2025
PubMed
Summary

A novel fast integral terminal synchronous sliding mode control (FITSSMC) ensures fast, synchronized convergence for pantograph robot (PR) position tracking errors. This advanced control method enhances tracking accuracy and robustness against disturbances.

Keywords:
Exponential piecewise functionFast integral terminal synchronous sliding mode control (FITSSMC)Norm-normalized sign function (NNSF)Pantograph robot (PR)Synchronous position tracking performanceUncertainties and external disturbances

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Area of Science:

  • Robotics and Control Systems
  • Mechatronics Engineering
  • Applied Mathematics

Background:

  • Pantograph robots (PRs) require precise control for synchronized movement.
  • Existing control methods may struggle with fast convergence and robustness to disturbances.

Purpose of the Study:

  • To propose a novel Fast Integral Terminal Synchronous Sliding Mode Control (FITSSMC) for a 2-DOF PR.
  • To ensure fast synchronous convergence of position tracking errors for PR servo motors.
  • To enhance robustness against uncertainties and external disturbances.

Main Methods:

  • Mathematical modeling of the PR using inverse/forward kinematics and servo motor dynamics.
  • Development of FITSSMC utilizing norm-normalized sign function (NNSF) and exponential piecewise functions.
  • Design of two finite-time state observers (FTSOs) for unmeasurable state estimation.
  • Lyapunov stability analysis to prove synchronous and finite-time stability.

Main Results:

  • FITSSMC achieves fast synchronous convergence of position tracking errors for both motors.
  • The integral term ensures singularity avoidance and strong robustness.
  • Finite-time state observers effectively estimate unmeasurable states.
  • Comparative simulations and experiments validate superior performance in tracking accuracy and convergence speed.

Conclusions:

  • The proposed FITSSMC effectively minimizes synchronous position tracking errors in PRs.
  • The control scheme demonstrates superior performance compared to existing methods, especially under uncertainties.
  • This research contributes a robust and efficient control strategy for pantograph robot applications.