Adaptive Variable Structure Control for Trajectory Tracking of a Two-Link Robotic Manipulator System with Linear Sliding Manifolds.

Adaptive control proves to be a useful solution for problems involving system uncertainties and modelled inaccuracies .In the presence of uncertainties in the manipulator dynamics and model ,due to incorrect parameter values and changes while the manipulator is being operated fixed controllers cannot be implemented accurately. Adaptive laws in manipulator control (by altering the control signal) accounts for changes in manipulator dynamics and for this reason adaptive control of manipulators has become one of the most active research areas during the last few years. This paper presents a novel yet simple technique that combines the adaptive laws with conventionally robust Sliding Mode Control technique. The stability and convergence of the robotic manipulator control system are guaranteed by applying the Lyapunov stability theorem.