Adaptive control for robot manipulators with sliding mode error coordinate system: free and constrained motions

Abstract

Based on a novel error coordinate system which induces a sliding mode, two passivity-based adaptive controllers are proposed. The control strategies, similar to the one proposed by Slotine-Li (1987) for free motion and by Arimoto et al. (1993, 1994) for constrained motion, give rise to the exponential convergence of tracking errors. Computer simulation data for free and constrained motions show a high performance.