A robust adaptive sliding mode controller for robotic manipulators

A robust adaptive sliding mode controller is designed in this paper for trajectory tracking in robotic manipulators. This controller is able to estimate the constant part of the system parameters as well as suppress the uncertainty part of the system dynamics. It is shown that if the control input vector is designed in the sense that its norm is bounded by a positive definite second order polynomial, the system uncertainty can be bounded by a positive definite second order polynomial as well. This result has formed the foundation of the derivation of the proposed control law which does not require measurement of acceleration signals. Simulations are presented to show the effectiveness of the approach.