Sliding Mode with Adaptive Control of Robot Manipulator Trajectory Tracking using Neural Network Approximation

This paper briefly discusses about the Robust Controller based on Adaptive Sliding Mode Technique with RBF Neural Network (ASMCNN) for Robotic Manipulator tracking control in presence of uncertainities and disturbances. The aim is to design an effective trajectory controller without any modelling information. ASMCNN designed have robust Robot Manipulator, which combines Estimation Control. model utilised construct a Lyapunov function-based adaptive approach. Simulation 2dof unpredictability external disruption demonstrates usefulness planned ASMCNN.