An adaptive sliding mode control scheme for robot manipulators

Abstract

Abstract An adaptive sliding mode scheme is developed for accurate tracking control of robotic manipulators. By coupling on-line estimation of unknown manipulator and payload parameters to sliding mode control, tracking performance is effectively improved. The introduction of a boundary layer solves the problem of chattering and provides a consistent rule on when to stop adaptation. The algorithm is computationally simple, because of an effective exploitation of the structure of manipulator dynamics. The approach is demonstrated by simulations. Additional informationNotes on contributorsSU CHUNYI Formerly with the Department of Automation, South China University of Technology, Guangzhou, 510641, People's Republic of China.