Abstract
Sliding mode controllers (SMC) can achieve robustness against modeling errors and disturbances but they require upper-bounds of uncertain system dynamics. We proposed an adaptive robust sliding mode controller (ARSC-R) for robot manipulators elsewhere. It identifies both the system parameters and the upper-bounds of uncertain system dynamics. In this paper, we introduce a time-varying hyperplane into SMC and extend ARSC-R to a new controller named ARSC-M. This controller can achieve high control accuracy and good robustness. Our method is successfully applied to path control of a two-link robot manipulator.
