An Adaptive Sliding Mode Controller for Synchronized Joint Position Tracking Control of Robot Manipulators

摘要

A novel adaptive sliding mode control algorithm is derived to deal with synchronized joint position tracking control of robot manipulators. The proposed algorithm does not require the precise dynamic model, and is very practical. The cross-coupled technology is incorporated into the adaptive sliding mode control architecture through feedback of joint position errors and synchronization errors. Its robustness is verified by the Lyapunov stability theory. Simulation results obtained from a 3-link non-linear planer robot manipulator demonstrate the effectiveness of the approach under various disturbances.