Automatic Control and Computer Sciences

, Volume 53, Issue 6, pp 511–521 | Cite as

Robust Nonsingular Fast Terminal Sliding Mode Control in Trajectory Tracking for a Rigid Robotic Arm

  • A. JouilaEmail author
  • N. Essounbouli
  • K. Nouri
  • A. Hamzaoui


In this paper, a novel concept of robust Nonsingular Fast Terminal Sliding Mode controller (NFTSMC) is adopted for the trajectory tracking problem of a non-linear system. The developed controller is based on NFTSM controller and \({{{\text{H}}}_{\infty }}\) approach. The use of the NFTSM controller offers a fast convergence rate, avoids singularities, but still suffers from chattering. In order to overcome this limitation, a new term in the control law is inspired by the technique of \({{{\text{H}}}_{\infty }}{\text{;}}\) it interferes by managing uncertainties and external disturbances without knowing their upper bound. Stability analysis of the closed-loop system is accomplished using the Lyapunov criterion. Several simulation results are given to show the effectiveness of the proposed approach.


nonsingular fast terminal sliding mode control robot arm terminal sliding mode control Lyapunov stability nonlinear system 



The authors declare that they have no conflicts of interest regarding the publication of this paper.




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Copyright information

© Allerton Press, Inc. 2019

Authors and Affiliations

  • A. Jouila
    • 1
    Email author
  • N. Essounbouli
    • 2
  • K. Nouri
    • 1
  • A. Hamzaoui
    • 2
  1. 1.Laboratory of Advanced Systems (LSA), Polytechnic School of Tunisia, National Engineering School of Tunis (ENIT)TunisTunisia
  2. 2.CReSTIC, IUT de TroyesTroyes CedexFrance

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