Adaptive sliding mode control of constrained robot manipulators

The design of sliding mode control for trajectory tracking of an end-effector on a constrained surface with specified constraint forces is considered. Using sliding mode control, the only information on uncertain parameters which is needed for the design is its possible bounds. An adaptive scheme which is capable of performing the estimation of the bounds is introduced. The feedback control will then be dependent on the estimation of the bounds. This greatly reduces the complexity of the design. A numerical example is presented to illustrate the method developed. A two-link robotic manipulator with a circular path constraint is used to verify the validity of the control approach outlined