Robust adaptive sliding mode control with modified regressor matrix and composite adaptation for robotic manipulators

A robust adaptive sliding mode controller is proposed in this paper for trajectory tracking in rigid robotic manipulators. This controller contains two components: one is for estimation of the constant part of system parameters and the other for suppression of the uncertainty part of system parameters. With a mild assumption, the proposed controller enables the desired trajectory to be tracked. In order to further enhance the performance of the controller, the regressor matrix is modified and composite adaptation is incorporated so that the acceleration signals are not required for control. Simulations are presented to show the effectiveness of the approach.