Adaptive sliding mode control with uncertainty estimator for robot manipulators

作者：Zeinali Meysar; Notash Leila^*

来源：Mechanism and Machine Theory, 2010, 45(1): 80-90.

DOI：10.1016/j.mechmachtheory.2009.08.003

• Adaptive robust control
• Sliding mode
• Uncertainty estimator
• Robot control

In this article, an approach for tracking control of robot manipulators is presented. The proposed controller incorporates the approximately known inverse dynamic model output as a model-base portion of the controller; an estimated uncertainty term to compensate for the un-modeled dynamics, external disturbances, and time-varying parameters; and a decentralized PID controller as a feedback portion to enhance closed-loop stability and account for the estimation error of uncertainties. The robustness and capabilities of the proposed approach are investigated in simulation for an example robot.

• 出版日期2010-1