@inproceedings{c9d5a65574a24c3783a26739d474cbfb,
title = "Adaptive Time-Delay Estimation-Driven Model-Free Sliding Mode Control for Robotic Manipulator Systems",
abstract = "This paper proposes an adaptive robust control strategy for robot manipulators that integrates adaptive sliding mode control with time-delay estimation (TDE). The controller estimates system dynamics and handles uncertainties using only past output data, but potential estimation errors from TDE are compensated using previous error information. An integral sliding mode surface (ISMS) is employed to eliminate the reaching phase and minimize chattering. Additionally, a tailored adaptive law ensures the control gain remains positive based on its current value and the sampling time. Simulations on industrial manipulators verify the method{\textquoteright}s strong robustness, low chattering, and precise tracking under various conditions.",
keywords = "adaptive control, industrial manipulators, robust control, time-delay control",
author = "Le, \{Tien Dung\} and Vo, \{Anh Tuan\} and Truong, \{Thanh Nguyen\} and Nguyen, \{Ngoc Hoai An\}",
note = "Publisher Copyright: {\textcopyright}2025 IEEE.; 2025 International Symposium on Electrical and Electronics Engineering, ISEE 2025 ; Conference date: 23-10-2025 Through 24-10-2025",
year = "2025",
doi = "10.1109/ISEE68370.2025.11223467",
language = "English",
series = "2025 International Symposium on Electrical and Electronics Engineering, ISEE 2025",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "102--106",
booktitle = "2025 International Symposium on Electrical and Electronics Engineering, ISEE 2025",
address = "United States",
}