%0 Journal Article
	%A T. C. Kuo and  Y. J. Huang and  B. W. Hong
	%D 2011
	%J International Journal of Electrical and Computer Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 53, 2011
	%T Design of Adaptive Sliding Mode Controller for Robotic Manipulators Tracking Control
	%U https://publications.waset.org/pdf/15705
	%V 53
	%X This paper proposes an adaptive sliding mode
controller which combines adaptive control and sliding
mode control to control a nonlinear robotic manipulator
with uncertain parameters. We use an adaptive algorithm
based on the concept of sliding mode control to alleviate the
chattering phenomenon of control input. Adaptive laws are
developed to obtain the gain of switching input and the
boundary layer parameters. The stability and convergence
of the robotic manipulator control system are guaranteed
by applying the Lyapunov theorem. Simulation results
demonstrate that the chattering of control input can be
alleviated effectively. The proposed controller scheme can
assure robustness against a large class of uncertainties and
achieve good trajectory tracking performance.
	%P 453 - 457