Robust adaptive control of robotic manipulators based on terminal sliding mode
基于终端滑模的机械手鲁棒自适应控制

A robust adaptive controller is proposed for uncertain robotic manipulators.The controller estimates the unknown physical parameters by adaptive law and eliminates the uncertainties by terminal sliding mode control.Dead-zone adaptive control strategy is then employeed to prevent the drift of the estimated parameters.Simulation studies indicate that the sliding mode control can not only reject the disturbances,but also eliminate the drawback of the dead-zone adaptive control.Hence,a satisfactory control performance as well as a strong robustness can be achieved.