Variable structure adaptive controller for robot manipulator based on desired trajectory compensation

The paper presents a new controller for robot manipulator with nonlinear friction combing with the slide variable structure control theory. In the paper, the generalized coordinates, its first and second derivatives in the regressor are replaced by its desired value, and the variable structure adaptive controller for robot manipulator based on desired trajectory is formed. The adaptive scheme has best computationally efficient for real-time calculating of the regressor. The simulation research shows that the controller is robust to disturbance of dynamic uncertainty and nonlinear friction.

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