A Robust Mimo Terminal Sliding Mode Control Scheme For Rigid Robotic Manipulators

Man Zhihong, A. P. Paplinski, H. R. Wu

Research output: Contribution to journalLetterResearchpeer-review

903 Citations (Scopus)


In this paper, a robust multi-input/multi-output (MIMO) terminal sliding mode control technique is developed for n-link rigid robotic manipulators. It is shown that an MIMO terminal switching plane variable vector is first defined, and the relationship between the terminal switching plane variable vector and system error dynamics is established. By using the MIMO terminal sliding mode technique and a few structural properties of rigid robotic manipulators, a robust controller can then be designed so that the output tracking error can converge to zero in a finite time, and strong robustness with respect to large uncertain dynamics can be guaranteed. It is also shown that the high gain of the terminal sliding mode controllers can be significantly reduced with respect to the one of the linear sliding mode controller where the sampling interval is nonzero.

Original languageEnglish
Pages (from-to)2464-2469
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number12
Publication statusPublished - 1 Jan 1994

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