Cartesian neuro-sliding PID control of robots for tracking under inverse Jacobian uncertainty

An alternative approach that satisfies the problem of Cartesian tracking without using the model and without exact knowledge of Jacobian is proposed to guarantee exponential tracking. The scheme is a new sliding PID controller in Cartesian coordinates, whose control input is smooth, produces well-posed terminal attractors which gives rise to finite time convergence, a faster convergence regime than exponential one. Experimental results are present to visualize the real time stability properties of the proposed scheme