Adaptive-Sliding Mode Trajectory Control of Robot Manipulators with Uncertainties

  • MUSTAFA M. MUSTAFA Department of Electrical Engineering, College of Engineering, Salahaddin University-Erbil, Kurdistan Region, Iraq
  • Ibrahim Hamarash 1Department of Electrical Engineering, College of Engineering, Salahaddin University-Erbil, Kurdistan Region, Iraq 2Department of Computer Science and Engineering, University of Kurdistan Hewler, Iraq
  • Carl D. Crane Department of Mechanical and Aerospace Engineering, University of Florida, FL, USA
Keywords: Nonlinear Control, Uncertainty, Robot Manipulator.


In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work we seek a controller that is, robust to the uncertainty and disturbance, accurate, and implementable. To perform these requirements, we use a nonlinear Lyapunov-based approach for designing the controller and guaranteeing its stability. MATLAB-SIMULINK software is used to validate the approach and demonstrate the performance of the controller. Simulation results show that the derived controller is stable, robust to the disturbance and uncertainties, accurate, and implementable.


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How to Cite
MUSTAFA, M., Hamarash, I. and D. Crane, C. (2020) “Adaptive-Sliding Mode Trajectory Control of Robot Manipulators with Uncertainties”, Zanco Journal of Pure and Applied Sciences, 32(4), pp. 22-29. doi: 10.21271/ZJPAS.32.4.3.
Mathematics ,Physics and Engineering Researches