Adaptive Backstepping Sliding Mode Control of Trajectory Tracking for Robotic Manipulators

<div>Mean square error of the estimation function <span class="nowrap"><svg height="12.7178pt" id="M210" style="vertical-align:-3.42947pt" version="1.1" viewbox="-0.0498162 -9.28833 34.6918 12.7178" width="34.6918pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,1.709,-.222)"><path d="M470 557C393 591 314 624 246 666H224C156 624 76 591 0 557L12 532C86 550 163 573 235 596C309 572 384 550 458 532L470 557Z"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M559 271C559 395 493 448 433 448C370 448 304 394 275 297C259 245 235 121 219 37C157 54 113 110 113 201C113 310 180 386 276 429L265 457C131 410 23 326 23 186C23 83 86 5 211 -10C180 -159 167 -220 158 -252L165 -261C198 -255 236 -246 251 -218L287 -5C421 9 559 119 559 271ZM484 273C484 144 400 40 293 33L352 331C364 389 382 406 405 406C431 406 484 370 484 273Z"></path></g><g transform="matrix(.013,0,0,-0.013,7.594,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,12.092,0)"><path d="M474 429L457 433C435 440 389 448 367 448C348 448 323 446 309 443C266 434 195 406 148 366C78 307 23 210 23 101C23 35 55 -12 92 -12C118 -12 146 1 196 35C247 70 311 130 346 173H348L281 -148C268 -211 256 -221 208 -229L191 -232L187 -257L433 -245L437 -219L411 -216C357 -210 350 -205 362 -140L427 207C447 315 461 381 474 429ZM387 387C379 337 363 262 355 236C318 180 201 57 142 57C126 57 112 81 112 128C112 205 150 321 220 376C244 395 280 403 312 403C345 403 370 396 387 387Z"></path></g><g transform="matrix(.013,0,0,-0.013,18.476,0)"><path d="M95 130C70 130 46 113 46 88C46 72 54 64 59 64C93 55 121 33 121 -3C121 -41 93 -68 44 -88L55 -117C117 -98 186 -56 186 22C186 91 131 130 95 130Z"></path></g><g transform="matrix(.013,0,0,-0.013,30.437,-.222)"><path d="M-161 571C-161 600 -183 623 -212 623C-238 623 -262 600 -262 571C-262 544 -238 520 -212 520C-183 520 -161 544 -161 571Z"></path></g><g transform="matrix(.013,0,0,-0.013,23.619,0)"><path d="M474 429L457 433C435 440 389 448 367 448C348 448 323 446 309 443C266 434 195 406 148 366C78 307 23 210 23 101C23 35 55 -12 92 -12C118 -12 146 1 196 35C247 70 311 130 346 173H348L281 -148C268 -211 256 -221 208 -229L191 -232L187 -257L433 -245L437 -219L411 -216C357 -210 350 -205 362 -140L427 207C447 315 461 381 474 429ZM387 387C379 337 363 262 355 236C318 180 201 57 142 57C126 57 112 81 112 128C112 205 150 321 220 376C244 395 280 403 312 403C345 403 370 396 387 387Z"></path></g><g transform="matrix(.013,0,0,-0.013,30.026,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g></svg>.</span></div>

Complexity

fig9

Figure 9

Figure 9: Adaptive Backstepping Sliding Mode Control of Trajectory Tracking for Robotic Manipulators 