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Mathematical Problems in Engineering
Volume 2013, Article ID 978241, 9 pages
Research Article

Barrier Lyapunov Function-Based Sliding Mode Control for Guaranteed Tracking Performance of Robot Manipulator

Department of Electronics Engineering, Pusan National University, Jangjeon-dong, Geumjeong-gu, Busan 609-735, Republic of Korea

Received 25 July 2013; Revised 20 October 2013; Accepted 20 October 2013

Academic Editor: Xudong Zhao

Copyright © 2013 Seong Ik Han et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We propose a decentralized error-bounded sliding mode control mechanism that ensures the prescribed tracking performance of a robot manipulator. A tracking error-transformed sliding surface was constructed and the barrier Lyapunov function (BLF) was used to ensure the transient and steady-state time performance of the positioning function of a robot manipulator as well as satisfy the ordinary sliding mode control properties. Unknown nonlinear functions and approximation errors are estimated by the RBF network and adaptive compensator. The effectiveness of the proposed control scheme was determined by comparing the results of an experiment evaluation with those of the conventional sliding mode control (SMC) and finite-time terminal sliding mode control (FTSMC) methods.