Active residual vibration suppression of high-speed planar manipulators using non-singular fast terminal sliding mode control

Wenhua Ding, Hua Li, Xinkai Sun, Mian Jiang, Jianghui Li, School of Robotics, Ningbo University of Technology, School of Mechatronics Engineering and Automation, Foshan University, School of Electronic Information, Foshan Polytechnic

Journal of Vibration and Control

Published online on March 19, 2026

Abstract

Journal of Vibration and Control, Ahead of Print.
Input shaping is commonly employed to suppress the residual vibrations of the planar manipulator end-effectors, but its performance heavily depends on precise modal parameter estimation and often proves inadequate under varying conditions. In this study, ...