Adaptive Sliding Mode Control for Robotic Manipulators with Unknown Friction and Unknown Control Direction: A Recent Study

Abstract

This paper is aimed at addressing the tracking control issue for an n-DOF manipulator regardless of unknown friction and unknown control direction. In order to handle the above issues, an adaptive sliding mode control (ASMC) is developed with a Nussbaum function. The sliding mode control (SMC) in the proposed control guarantees the tracking problem and fast responses for the manipulator. Additionally, adaptive laws for the robust gain in the SMC are formed to deal with the unknown external disturbance and reduce the chattering effect in the system. Furthermore, in practice, the mistakes in the connection between actuators and drivers, named unknown control direction, cause serious damage to the manipulator. To overcome this issue, the Nussbaum function is multiplied by the ASMC law. A Lyapunov approach is investigated to analyze the stability and robustness of the whole system. Finally, several simulations are implemented on a 3-DOF manipulator, and their results are compared with those of the existing controllers to validate the advantages of the proposed method. The results in the paper can be used to conduct advanced fault-tolerant controllers for robotic manipulators.