Adaptive Neural Network Sliding Mode Control Method Based on Udwadia-Kalaba Theory

In this paper, an adaptive neural network sliding mode control (SMC) method based on Udwadia-Kalaba theory is proposed for the modeling and control of complex incomplete constrained electromechanical systems, such as manipulators. The performance of the proposed method is compared with that of the traditional SMC controller, and the analysis is conducted using Matlab simulations. The analysis reveals that the proposed method exhibits superior performance in terms of achieving high-precision control of the manipulator while effectively mitigating chattering commonly associated with sliding mode control.