Adaptive sliding mode control design for the 2-DOF robot arm manipulators

摘要

In this paper, an adaptive sliding mode (ASMC) controller designed for a multi-inputs and multi-outputs (MIMO) robotic arm nonlinear manipulator system. The controller is designed based on Lyapunov theorem to achieve a robust trajectory tracking taking into consideration the system's uncertainties in addition to reducing the effect of chattering problem associated with the traditional sliding mode control. It's found that, even in the presence of the parameters' uncertainties, the performance of the proposed controller for the trajectory tracking is robust. Furthermore, chattering is significantly reduced.