A sliding mode PID-controller design for robot manipulators

A robust sliding mode PID-controller is proposed to control a robot manipulator with parameter variations and external disturbances. The work corroborates the utility of a certain sliding mode controller with PID sliding function for tracking control of a robot manipulator. The proposed method is used to take into account the unknown but bounded parameter uncertainties and external disturbances. The stability is demonstrated by Lyapunov theory. The performance of the closed-loop system is visualized through simulation. The input chattering phenomenon is handled by using boundary layer technique.