Adaptive Tracking Control of Manipulators Based on Backstepping Sliding Mode Method

This paper presents an adaptive tracking control method of manipulators based on backstepping sliding mode method. The proposed control method uses the limiting function in the sliding mode equation to eliminate the chattering problem caused by the sign function. Meanwhile, using the adaptive control method, the uncertain parameters in the manipulator modeling are replaced by the estimated values. The controller adjusts the estimated value in real time according to the feedback state variables, which greatly improves the robustness of the manipulator. Firstly, the dynamic model of the rigid manipulator with three degrees of freedom is established. Then, an adaptive tracking control method based on backstepping sliding mode method is proposed, and the corresponding adaptive tracking controller is designed. Simultaneously, the suitable Lyapunov function is found and the global stability of the controlled system is proved. Finally, the effectiveness and superiority of the proposed controller are verified by the simulation experiment.