Adaptive full-order sliding mode control of rigid robotic manipulators

Abstract

In this paper, an adaptive sliding mode control is proposed for position tracking of rigid robotic manipulators with system parametric uncertainties. This control scheme can drive the position tracking error reach the designed sliding mode and then converge to zero asymptotically while avoiding the chattering phenomenon. Compared with the robust full-order sliding mode control technique, the proposed scheme can overcome the system uncertainties without requiring prior knowledge of their bounds. Theoretical analysis and simulation results validate the effectiveness of the proposed scheme.