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First, a sliding perturbation observer, which can estimate compound disturbance only by feedback position signals, is proposed to reduce the uncertainty caused by angular velocity observation. Then, based on the sliding perturbation observer, a nonsingular terminal sliding mode control method is designed to satisfy the requirements of system nonsingularity, robustness, and control accuracy. The stability of the controller is proved by the Lyapunov theory. Finally, simulation and experimental results show that the proposed control method has excellent anti-disturbance performance, which provides an important reference for the future applications of permanent-magnet spherical actuators in aerospace and other industrial fields.<\/jats:p>","DOI":"10.1177\/09596518221125011","type":"journal-article","created":{"date-parts":[[2022,9,21]],"date-time":"2022-09-21T05:17:15Z","timestamp":1663737435000},"page":"259-271","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Nonsingular terminal sliding mode control with sliding perturbation observer for a permanent-magnet spherical actuator"],"prefix":"10.1177","volume":"237","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9511-5622","authenticated-orcid":false,"given":"Xiwen","family":"Guo","sequence":"first","affiliation":[{"name":"School of Electrical Engineering and Automation, Anhui University, Hefei, 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Hefei, China"}]},{"given":"Yakun","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering and Automation, Anhui University, Hefei, China"},{"name":"National Engineering Laboratory of Energy-Saving Motor & Control Technology, Anhui University, Hefei, 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