Robust motion and force tracking control of robot manipulators in the presence of parametric uncertainties in both the robot dynamics and the contact surface as well as edema1 disturbances is considered in this paper. Several approaches are adopted to compare their advantages. In the absence of time-varying disturbances, a continuous adaptive motion and force tracking control algorithm is devel...

this paper deals with a globally convergent adaptive and sliding mode control of a cart-pole inverted pendulum for trajectory tracking in the presence of a bounded measurement noise and parameter uncertainty. two kinds of controllers have been used for evaluation of tracking error in presence of a bounded noise; as a result, we want to compare that at what time we can see the convergence of tra...