Sliding mode control
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Sliding mode control (SMC) is a robust nonlinear control strategy that drives a system's state onto a predefined surface in state space — called the sliding surface — and then constrains motion along that surface toward the desired equilibrium. Once on the surface, the system becomes insensitive to matched disturbances and parameter uncertainties, making SMC particularly attractive for real-world applications where exact models are unavailable. In robotics and AI, SMC is widely applied to trajectory tracking for robot manipulators, mobile robots, underwater vehicles, and multi-robot formations. Extensions such as terminal sliding mode control enable finite-time convergence, while adaptive, neural network-based, and fuzzy variants handle unmodeled dynamics and unknown parameters. Integral and higher-order sliding modes reduce chattering — the high-frequency switching that can damage actuators — improving practical implementation. SMC matters because robots routinely face payload variations, friction, and external disturbances that degrade conventional controllers. By guaranteeing robustness through a geometric control structure rather than precise modeling, SMC provides reliable, high-accuracy performance under real operating conditions, forming a foundational tool in modern robust robotics control design.
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Sliding Mode Control in Electro-Mechanical Systems
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Continuous finite-time control for robotic manipulators with terminal sliding mode
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Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
J.-J.E. Slotine, Shankar Sastry
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Variable structure control of nonlinear systems: a new approach
Wei-Bing Gao, J. C. Hung
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Sliding Mode Control In Engineering
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A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators
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Nonsingular fast terminal sliding‐mode control for nonlinear dynamical systems
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Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots
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Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities
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Terminal sliding mode control for rigid robots
Yu Tang
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Sliding-Mode Robot Control With Exponential Reaching Law
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An Adaptive Backstepping Nonsingular Fast Terminal Sliding Mode Control for Robust Fault Tolerant Control of Robot Manipulators
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Practical Nonsingular Terminal Sliding-Mode Control of Robot Manipulators for High-Accuracy Tracking Control
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Robust adaptive finite‐time parameter estimation and control for robotic systems
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Practical Tracking Control of Robot Manipulators With Continuous Fractional-Order Nonsingular Terminal Sliding Mode
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Robust Sliding Mode Control for Robot Manipulators
Shafiqul Islam
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Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots
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