Adaptive PD plus sliding mode control for robotic manipulator

Abstract

In this paper, an adaptive proportional-derivative (PD) plus sliding mode control (SMC) algorithm, APD-SMC in short, is proposed for tracking control of robotic manipulators. The PD control part is used to bring the trajectory to the normalized tracking, the SMC part forces the trajectory close to the sliding surface, and the adaptive control part is used to estimate the dynamics of the system. The proposed control system has the features of PD control and SMC with the adaptation for the unknown dynamics of the robotic manipulators. The stability analysis is conducted based on the Lyapunov theory, and simulation study is fulfilled and comparisons are performed in order to prove the effectiveness of the APD-SMC law.