Sliding mode control merging compensator for 6-DOF industrial robot manipulator with unknown environment

This paper presents a sliding mode control algorithm for 6-DOF robotic manipulator system merging disturbance compensator (SMCC). Firstly, the appropriate observer has been presented for accurate estimation of the external disturbance and the dynamic model uncertainties to improve tracking performance. Secondly Lyapunov theory has been applied to demonstrate the stability of the proposed closed-loop robotic system. Finally, the effectiveness of the proposed control approach and theoretical discussion are illustrated through comparative simulations on a six-link robot manipulator and humanoid robot platform.