Safanah M. Raafat

Hybrid ISMC–FTC Design with PSO Tuning for Finite-Time Stabilization of a 2-DOF Robotic Manipulator

This paper proposes a hybrid integral sliding mode and finite-time control (ISMC–FTC) strategy for a two-degree-of-freedom (2DOF) robotic manipulator, targeting finite-time stability and high-precision elliptical trajectory tracking. To ensure practical deployment, the controller explicitly enforces actuator saturation...