Smooth sliding mode controller design for robotic arm

This paper seeks to develop simple yet efficient modelling and control scheme for robotic manipulators in joint space wherein a control law is developed based on sliding mode that provides robustness against uncertainties and perturbations and a stability analysis guarantees the asymptotic stability of origin. Given the bounds of disturbance and a switching manifold that enforces trajectory tracking, a control algorithm is presented to drive the states on the switching surface quickly and maintain them thereafter. Further, the system is analyzed for stability and performances and efforts are made to design a controller with smooth characteristics.