An Adaptive Control Strategy with Switching Gain and Forgetting Factor for a Robotic Arm Manipulator

摘要

This paper presents an adaptive sliding mode controller (ASMC) with the implication of a forgetting factor for a two-degree-of-freedom (2-DOF) arm robot manipulator trajectory tracking. The proposed approach builds upon conventional sliding mode control (SMC), which is well known for its robustness and low tracking error. The controller dynamically adjusts this parameter by introducing an adaptive mechanism to enhance trajectory tracking, guarantee high robustness, and reduce chattering effects. In order to mitigate gain drift, a forgetting factor is incorporated into the adaptation law, ensuring stable and reliable control performance. Stability is validated using Lyapunov theory, and the effectiveness of the proposed ASMC is evaluated through numerical simulations. The simulations are conducted in MATLAB R2023b using a dynamic model of the 2-DOF robotic manipulator. Comparative results with conventional SMC confirm that the adaptive approach significantly improves tracking accuracy, noise robustness, and chattering suppression.