On using nonlinear sliding manifolds in robotic control

Using nonlinear sliding manifolds in robotic control can provide preferred transient responses compared to those resulted from the traditional hyperplane sliding manifolds. Based on a nonlinear sliding manifold, a design strategy for the adaptive sliding mode control is presented for nonlinear robotic systems. It is shown that, without any prior knowledge of the manipulator parameters, the controller guarantees the occurrence of the sliding mode on the specified nonlinear sliding manifold. Desired performance can therefore be obtained