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

Table 1

Manipulator parameters.

Symbol	Parameter	Quantity
𝑚1,𝑚2	Mass of link1 and 2	12.1 kg, 3.59 kg
𝐿1,𝐿2	Mass of link1 and 2	0.3 m, 0.41 m
𝐹𝑠1,𝐹𝑠2	Stiction level of joint1 and 2	0.063 Nm, 0.0648 Nm
𝐹𝑐1,𝐹𝑐2	Coulomb friction of joint1 and 2	0.061 Nm sec/rad, 0.06 Nm sec/rad
𝑣𝑠1,𝑣𝑠2	Stibeck velocity of joint1 and 2	0.00075 rad/sec, 0.00063 rad/sec
𝜎01,𝜎02	Bristle stiffness of joint1 and 2	5400 Nm/rad, 8700 Nm/rad
𝜎11,𝜎12	Presliding damping of joint1 and 2	5.4 Nm sec/rad, 6.2 Nm sec/rad
𝜎21,𝜎22	Sliding damping of joint1 and 2	10.2 Nm sec/rad, 10.8 Nm sec/rad