Adaptive Terminal Sliding Mode Control for a Quadrotor System with Barrier Function Switching Law by Jiangting Zhu, Xionghui Long, Quan Yuan

“…In addition, an adaptive gain regulation mechanism based on a barrier Lyapunov function (BLF) is developed to ensure boundedness of system trajectories while enhancing robustness without requiring prior knowledge of disturbance bounds. …”
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A Composite Barrier Function Sliding Mode Control Method Based on an Extended State Observer for the Path Tracking of Unmanned Articulated Vehicles by Kanghua Zhang, Xiaochao Gu, Nan Wang, Jialu Cao, Jixin Wang, Shaokai Zhang, Xiang Li

“…In this paper, a composite barrier function sliding mode control method based on an extended state observer is proposed to solve the problem of modeling uncertainty and unknown external disturbance in the path tracking control of unmanned articulated vehicles. …”
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Second-order sliding mode optimization control of an inverted pendulum system based on fuzzy adaptive technology by Xuefeng Leng

“…IntroductionThis paper aims at the control problem of nonlinear systems with uncertainty in general, and avoids the deviation of sliding mode controller from the preset constraint region during the convergence process.MethodsA sliding mode control method based on fuzzy adaptive technique was proposed by constructing obstacle Lyapunov function (BLF). …”
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Third-Order Sliding Mode Control for Trajectory Tracking of Quadcopters Using Particle Swarm Optimization by Muhammad Rizwan Chughtai, Iftikhar Ahmad, Abdullah Mughees, Muddesar Iqbal, Dhafer Almakhles, Mahmoud Abdelrahim

“…Specifically, an integral terminal sliding-mode control based on an adaptive barrier function with a super-twisting reaching law is employed to achieve precise trajectory tracking. …”
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A New Task-Space Neural Nonlinear Control Approach for Robotic Manipulators Under Joint Constraints by Nguyen Tran Minh Nguyet, Dang Xuan Ba

“…Unexpected influences of internal and external disturbances along with physical constraints in complicated kinematic configurations are large barriers for deriving excellent controllers of the manipulators. …”
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