Sliding mode switching control scheme for an uncertain robotic manipulator system under arbitrary switchings

The sliding mode switching control problem is considered for an uncertain robotic manipulator system in this paper. The presented robust switching control method with disturbance observer under arbitrary switchings is employed to enhance the robustness and overcome the system disturbance, which can guarantee the resulting closed-loop switching control system is asymptotically Lyapunov stable and can achieve good position tracking error performance of robotic manipulators. Finally, a numerical example on the switching robotic manipulators is provided to demonstrate the effectiveness of the presented control algorithms.