Trajectory Tracking of a 2-Link Robotic Manipulator Using Adaptive Terminal Sliding Mode Controller

Abstract

This paper proposes an adaptive terminal sliding mode controller which combines adaptive control and sliding mode control to control a 2-link nonlinear robotic manipulator with uncertain parameters.We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input.Adaptive laws are developed to obtain the gain of switching input and the boundary layer parameters.The stability and convergence of the robotic manipulator control system are guaranteed by applying the Lyapunov stability theorem.Simulation results demonstrate that the chattering of control input can be alleviated effectively.The proposed controller scheme can assure robustness against a large class of uncertainties and achieve good trajectory tracking performance.