Robot Manipulator Trajectory Tracking with Uncertainties Based on Adaptive Sliding Control

Trajectory tracking control with uncertainties has been challenging for robot manipulators. To deal with issue, this study proposes an adaptive fuzzy compensation sliding control method that considers system friction and disturbance to improve the accuracy of trajectory tracking control for robotic manipulators. First, the adaptive control rate is designed based on a fuzzy approximation to process the uncertainty problems, and the stability is analyzed based on the Lyapunov algorithm. Then, an adaptive robust controller based on adaptive fuzzy compensation sliding control (AFCSC) is designed for a robot manipulator with system friction and disturbance. Finally, the effectiveness of the proposed trajectory tracking controller is demonstrated by the simulation. Simulation results show that the manipulator works with higher accuracy and is more stable compared with adaptive fuzzy friction compensating control.