Information

Name：Yang Xiaohui

Nationality：China

Email：yangxiaohui@ncu.edu.cn

Phone：13970941450

TeacherType：Doctoral Supervisor

Gender：male

Graduated From：Nanchang University

Degree：doctor

Affiliated Institution：College of Information Engineering

Position Level：Level 4 Technical Position

Staff Category：Teaching and Research-Oriented

Professional Title：Professor

Subject：Engineering

Department：Department of Energy and Electrical Engineering

Office Address：Xin Gong Building, Room C303-1

Professional Title Level：Senior Professional Title

Position Category：Teaching Position

Paper Achievements

Backstepping Sliding Mode Control Based on Extended State Observer for Robotic Manipulators with LuGre Friction

Visits ： | PublishDate ：2026-05-21

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In this paper, we propose a backstepping integral nonsingular fast terminal sliding mode control approach based on an extended state observer to the trajectory tracking control of robotic manipulators with LuGre friction. In order to improve convergence speed and tracking precision, an integral fast terminal sliding surface is introduced. An appropriate saturation function is designed in the control input to avoid singularity. An extended state observer is employed to estimate the uncertainties and disturbances, and they are compensated by the control laws, for which the chattering can be effectively eliminated. The backstepping method is used to design the control input of the system to ensure the globally asymptotic stability based on the Lyapunov criterion. In comparison with other control methods, simulation results show effectiveness and superiority of this proposed control scheme.