Dead-zone Compensation for Manipulator Based on Backstepping Adaptive Sliding Mode Control

A adaptive sliding mode control scheme is proposed for a class of robot manipulator with unknown dead-zones and uncertain external disturbances, based on the combination of backstepping method and sliding mode control technology. The design take into account the phenomenon and the effect of dead-zone in the operation of robots control. The adaptive controller is used to realize the automatic compensation, to overcome the effect of dead-zone in the operation of robots control and to control the end-effector of the robot to reach the desired position. In order to force the system to work in the sliding modes as soon as possible and reduce the adverse effect caused by chattering on real-time control, the switching function, control law and adaptive law are presented by using backstepping method. With the Lyapunov principle and Barbalat’s lemma, it is proved that the controller is global stability and convergence of the tracking error. The feasibility of the control scheme is verified by the experimental results.