Application of Adaptive Robust Control on Robotic Manipulator

Robotic manipulator holds very bright future and this system need to be studied extensively. This modern system has increased the growth in field of robotics. In this paper position and velocity tracking of robotic manipulators with system uncertainties is proposed using adaptive sliding mode control. The tracking error can be driven to the desired sliding mode and then asymptotically converge to zero with this control approach. The suggested scheme, in comparison to the robust sliding mode control technique, may overcome system uncertainties without the need for former knowledge. The presented scheme's effectiveness has been shown by theoretical analysis and simulation results are examined.