Robust adaptive sliding mode control for uncertain nonlinear MIMO system with guaranteed error bounds

In this paper, a robust adaptive sliding mode controller is proposed for a class of uncertain nonlinear multi-input multi-output (MIMO) systems. The upper bounds of the uncertainties are not needed in the procedure of the controller design, and the controller is continuous and guarantees the tracking error can converge to a small residual set. Furthermore, the size of the tracking error at steady state can be specified a prior and guaranteed by choosing certain design parameters. Finally, a simulation study based on a two-link rigid robotic manipulator model is used to illustrate the effectiveness of the proposed controller.