Adaptive Approaches on the Sliding Mode Control of Robot Manipulators

Abstract

In this paper, adaptive algorithms on the sliding mode control for robust tracking control of robot manipulators are presented. The presented algorithms use adaptation laws for tuning both the sliding mode gain and the thickness of the boundary layer to reject a discontinuous control input, and to improve the tracking performance. It is shown that the robustness of the developed adaptive algorithms are guaranteed by the sliding mode control law and that the algorithms are globally convergent in the presence of disturbances and modeling uncertainties. Computer simulations are performed for a two-link manipulator, and the results show good properties of the proposed adaptive algorithms under large manipulator parameter uncertainties and disturbances.