Adaptive sliding mode control with uncertainty estimator for robot manipulators

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. (C) 2009 Elsevier Ltd. All rights reserved.