Stable robust adaptive control of robotic manipulators with switched constraints

In this paper, the problem of controlling switched constrained robotic manipulators is addressed. Switched constrained robots are those robots interacting with multiple switched constraints. We start our control algorithm with suggesting a sliding mode controller that is proved to provide stable system performance. However, the bounds of the functions, on each link, caused from the constraints are assumed to be known. Then an adaptive sliding mode control strategy is suggested that relaxes the need for knowing the bounds of the constraints functions with guaranteeing global stable performance of the given switched constrained robotic system. Finally, we complement the control strategy above through deriving an improved robust adaptive control scheme that is proved to give a stable performance with reduced chattering. All of the three stages of the suggested control strategy are derived through finding a common Lyapunov function that can stabilize all of the subsystems for the overall switched system. Simulation is carried out for a two link robotic manipulator interacting with two switched constraints. From the simulation results we can see the excellent tracking performance and the high efficiency of the suggested control strategy in controlling switched constrained robotic systems.