Adaptive terminal sliding mode tracking control for rigid robotic manipulators with uncertain dynamics

摘要

A robust adaptive terminal sliding mode tracking control is proposed for rigid robotic manipulators. First, it is shown that, when a rigid robotic manipulator is treated as a partially known system, the system uncertainty is not only related to the model properties but also to the structure of the controllers. It is also proved that, if the control input vector does not contain the acceleration signals, the system uncer- tainty is upper bounded by a positive function of the position and velocity measure- ments.