Robust adaptive dual layer sliding mode controller: Methodology and application of uncertain robot manipulator

This paper presents a novel robust adaptive dual layer sliding mode control (ADLSMC) for the problem of high accuracy tracking trajectory of robot manipulator in the presence of uncertainties and external disturbances. This new control scheme has a dual layer structure. The first layer drives the robot manipulator system reaches the global nonlinear sliding surface in finite time, and the second layer tackles the values of the two control gains overestimation problem. Moreover, compared with the traditional super-twisting with time delay estimation algorithm, the proposed controller can realize not only set-point tracking but also dynamic tracking, which is very widely used in practice. The stability of the closed-loop system and the finite time convergence are analyzed using Lyapunov techniques. The effectiveness of the proposed method is demonstrated by simulations and experimental studies.