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The model considers manipulator dynamics, hydraulic actuator dynamics, and the friction effect of the actuators. A control scheme using a high-order terminal sliding mode (TSM) control method is proposed. Two explicit TSM control laws are derived for position tracking control. Both control laws globally finite-time stabilize the tracking error system. Compared with the conventional control methods, the proposed high-order TSM control scheme can provide a faster convergence and a higher tracking accuracy. Numerical simulation results demonstrate the effectiveness of the proposed scheme.<\/jats:p>","DOI":"10.1177\/0959651811417047","type":"journal-article","created":{"date-parts":[[2011,9,14]],"date-time":"2011-09-14T00:51:09Z","timestamp":1315961469000},"page":"394-415","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":26,"title":["Finite-time position tracking control of rigid hydraulic manipulators based on high-order terminal sliding mode"],"prefix":"10.1177","volume":"226","author":[{"given":"X","family":"Wang","sequence":"first","affiliation":[{"name":"School of Automation, Southeast University, Nanjing, People\u2019s Republic of China"},{"name":"Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, People\u2019s Republic of China"}]},{"given":"X","family":"Sun","sequence":"additional","affiliation":[{"name":"School of Automation, Southeast University, Nanjing, People\u2019s Republic of China"},{"name":"Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, People\u2019s Republic of China"}]},{"given":"S","family":"Li","sequence":"additional","affiliation":[{"name":"School of Automation, Southeast University, Nanjing, People\u2019s Republic of China"},{"name":"Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, People\u2019s Republic of China"}]},{"given":"H","family":"Ye","sequence":"additional","affiliation":[{"name":"School of Automation, Southeast University, Nanjing, People\u2019s Republic of China"},{"name":"Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, People\u2019s Republic of China"}]}],"member":"179","published-online":{"date-parts":[[2011,9,13]]},"reference":[{"key":"bibr1-0959651811417047","doi-asserted-by":"publisher","DOI":"10.1109\/70.928562"},{"first-page":"3034","volume-title":"Proceedings of the 2000 IEEE International Conference on Robotics and automation (ICRA 2000)","author":"Bu F.","key":"bibr2-0959651811417047"},{"first-page":"137","volume-title":"Proceedings of the 4th Student Conference on Research and development (SCOReD 2006)","author":"Azlan N. 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