Design of Adaptive SMC for EOD Robotics Manipulator Arm

Abstract

-This paper addresses the use of robust control technique ASMC for nonlinear multiple input multiple output RRRP manipulator arm precisely to be used for EOD robots in the presence of parametric uncertainties and external disturbances. In the proposed scheme for control law, model parameters are assumed unknown and are estimated via adaptive laws. Stability of the proposed controller is proved via Lyapunov theory and tracking of the desired path is guaranteed. Advantage of ASMC over other techniques is, the availability of a priori information about the upper bounds of the uncertainties are not required. Extensive simulations are carried out to show the effectiveness of the proposed controller compared to standard SMC.