Robust adaptive constrained motion and force control of manipulators with guaranteed transient performance

In this paper, a combined adaptive and smooth sliding mode control (SMC) methodology is suggested to design a constrained motion and force tracking controller so as to achieve asymptotic motion and force tracking without persistent excitation condition in the presence of parametric uncertainties. Filtered error signals are used in both motion and force sliding surfaces to enhance dynamic response of the system. The proposed controller provides guaranteed transient performance with prescribed final tracking accuracy in the presence of both parametric uncertainties and external disturbances or modelling errors. Simulation results are presented to illustrate the proposed controller.