Asymptotic consensus tracking control of robotic manipulators with disturbance and dead-zone via adaptive sliding mode control

Abstract

This article aims at solving the difficulties of robotic manipulator systems with unknown disturbance and dead-zone in consensus trajectory tracking. For the purpose of accelerating the tracking process of leader and follower manipulators, a novel sliding mode control strategy is proposed. For compensating the influence of unknown lumped disturbance and control dead-zone, a novel adaptive law is designed for the construction of controller. With the help of adaptive sliding mode controller, based on the Lyapunov stability theory, the over-estimation is alleviated and the tracking errors converge to zero asymptotically. The simulations demonstrate the validity of the proposed strategy for consensus asymptotic trajectory tracking.