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First, a modified predefined\u2010time control (PTC) algorithm is proposed. Subsequently, with the help of proposed modified PTC algorithm and the nonsingular design method of terminal sliding mode, a novel nonsingular terminal sliding\u2010mode control (NTSMC) scheme is proposed for ensuring the predefined\u2010time convergence of tracking errors. The advantages of the newly proposed control scheme are as follows. (i) Unlike the conventional predefined\u2010time sliding\u2010mode control (SMC) which only guarantees the predefined\u2010time convergence of sliding\u2010mode surface, the proposed scheme can guarantee the predefined\u2010time convergence of tracking errors. (ii) Compared with the conventional PTC algorithm, the proposed modified PTC algorithm can reduce the initial control peaking and enhance the precision of convergence time. The performance and effectiveness of the proposed control scheme are illustrated by comparing with the existing methods.<\/jats:p>","DOI":"10.1155\/2021\/9991989","type":"journal-article","created":{"date-parts":[[2021,6,10]],"date-time":"2021-06-10T22:36:11Z","timestamp":1623364571000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Terminal Sliding\u2010Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time"],"prefix":"10.1155","volume":"2021","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0481-4995","authenticated-orcid":false,"given":"Yang","family":"Wang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3670-1680","authenticated-orcid":false,"given":"Mingshu","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8177-7951","authenticated-orcid":false,"given":"Yu","family":"Song","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2021,6,10]]},"reference":[{"key":"e_1_2_10_1_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-020-01245-6"},{"key":"e_1_2_10_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2016.2569068"},{"key":"e_1_2_10_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2011.2168789"},{"key":"e_1_2_10_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2012.2214381"},{"key":"e_1_2_10_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/s1874-1029(08)60050-6"},{"key":"e_1_2_10_6_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2018.1468928"},{"key":"e_1_2_10_7_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-019-01008-y"},{"key":"e_1_2_10_8_2","doi-asserted-by":"publisher","DOI":"10.3109\/10929089909148172"},{"volume-title":"On the Dynamics and Control of Space Manipulators","year":"1990","author":"Papadopoulos E. 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