Adaptive sliding mode control for trajectory tracking of robot manipulators

Abstract

This paper introduces an adaptive sliding mode control (ASMC) law for a robot manipulator with a nonlinear uncertain model. Sliding mode control using a combined adaptive algorithm, is also studied. A stability analysis of the closed-loop system is developed based on the Lyapunov approach. The control system is designed and simulated by proposed ASMC for two degrees of freedom of robot, and the simulation results have shown that the proposed approach not only can effectively and quickly implement the trajectory tracking control of two manipulators, but also can reduce the chattering problems caused by characteristic of the traditional sliding mode control (SMC), and has robustness to the disturbance.